Lancaster, 42, will lead England into their home Rugby World Cup in 2015 after seeing off competition for the job from Nick Mallett.
Lancaster’s permanent appointment follows his successful reign as interim head coach, during which he led England to second place in the RBS 6 Nations and rebuilt the reputation of the national team.
His appointment was proposed by the RFU’s new chief executive Ian Ritchie, who oversaw the recruitment process, and was ratified unanimously by the board.
“I am immensely honoured and proud to accept this role,” said Lancaster.
“From the hundreds of messages I received during the Six Nations I know what supporting England means to millions of people and I am privileged to be involved.
“The players, coaches and the management were superb during the tournament and it’s down to them that we made such positive steps from when we first met up in Leeds.
“The challenge now is to take this squad and the players we will see emerge forward to 2015. It is one that I can’t wait to get stuck into.
“We have a massive task ahead of us in South Africa this summer and we have 37 games before that first World Cup match on home soil, so every second counts in developing players who can win that tournament - which has to be the ultimate aim.
“I want to thank Ian and the panel for giving me the chance to explain my vision for England Rugby and, with their backing, I feel very positive about the future.”