Council officers have given final approval to a major 390-house development near Ripon.
Housing developer Taylor Wimpey will oversee the scheme, which will be built on land off Whitcliffe Lane.
The former Harrogate Borough Council initially rejected the proposal in 2017, but the decision was overturned by the government’s Planning Inspectorate.
Councillors deferred the scheme to officers for approval in February 2022.
Now, North Yorkshire Council has given the development the final go-ahead after discussions over internal access at the site.
A report by Andy Hough, planning officer at the authority, said “a lengthy negotiation” had taken place with the developer over the road network and consultation with the council’s highways department.
Councillors had initially raised concern over the development and its impact on the countryside and the nearby Fountains Abbey.
At the time, Cllr Pat Marsh described the plans as being “forced upon” the area following the appeal.
“The impact on these particular areas which include a World Heritage Site that we must protect are going to be there whether we like it or not.
“I feel strongly that these reasons for refusal still stand.”
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The proposals were initially brought forward by Britain’s largest housebuilder Barratt Homes before the developers pulled out of the scheme.
The government’s housing agency Homes England and developers Taylor Wimpey then struck an £89.5m deal to acquire the site in February 2021 and get the plans back on track.
The approved plans include 156 affordable homes, 42 bungalows, cycling and walking links, a new bus route and children’s play areas.