The DVSA says learner drivers will be able to take driving lessons on motorways in England, Scotland and Wales from June 4.
Road safety charity IAM RoadSmart welcomed the move, saying it could save countless lives.
Learners will need to be accompanied by an approved driving instructor and driving a car fitted with dual controls.
Motorways lessons will also be voluntary and it will be up to the driving instructor to decide when the learner driver is competent enough for them.
IAM RoadSmart has long called for this move to be made.
A consultation was launched at the end of 2016, and the plans drawn up in August 2017. The announcement of the date of implementation is the final step to the idea finally coming to fruition.
Neil Greig, IAM RoadSmart director of policy and research, said: “IAM RoadSmart strongly welcomes this common sense change to the law on motorway driving.
“It has never made sense to us that new drivers on our most important roads learned how to use them by trial and potentially fatal error.
“The Government’s insistence on the use of approved instructors and dual controlled cars is a welcome safeguard that will ensure consistent levels of training and a proper phased introduction to motorway driving skills.
“Delays and injuries caused by driver error blight our motorways and with new systems such as smart motorway being widely introduced, it is vital that the level of knowledge and skill among motorways users is improved to keep our key economic routes flowing.
“Any current drivers who feel the need to refresh their skills or improve their confidence and enjoyment on the motorway can take an IAM RoadSmart motorway module today.”