FIFA's executive committee also voted for Russia to host the 2018 tournament, the world governing body's president Sepp Blatter announced on Thursday.
"I have to say thanks to the Executive Committee of FIFA because for 2018 and 2022 we go to new lands, because the FIFA World Cup has never been in eastern Europe or the Middle East," Blatter said.
"So, I'm a happy President when we speak of the development of football.
"But I have to give big compliments to all the bidders for the big job they have done and the messages they have delivered.
"All have delivered the message that football is more than just a game. Football is not only about winning; it is also a school of life where you must learn to lose, and that is not easy."
Qatar beat off competition from the United States, Japan, Australia and South Korea to become the first country in the Middle East to host the World Cup.
It overcame concerns over its midsummer heat, which FIFA's technical report said poses a health risk, and the small size of the country to convince the majority of the executive committee members that it is capable of staging a successful World Cup.
Qatar allayed FIFA's concerns by vowing to build 12 air-conditioned stadiums.
"Thank you for believing in change, for expanding the game and for giving Qatar a chance," Sheikh Mohammed bin Hamad Al-Thani, chairman of the Qatar bid committee, said.
"You will be proud of us - and you will be proud of the Middle East. I promise you this."