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The fee will also apply to UK-based lorries - but this will be offset by an equivalent cut in vehicle excise duty.
The move is designed to create a "level playing field" for British lorry drivers, as they have to pay for using roads in Europe.
The AA said it was concerned the system could lead to a universal road charging scheme for all motorists.
The government will publish draft legislation next month and ministers said the charge would be brought in by the end of the current parliament at the latest.
The amount of the charge would depend on the size of the vehicle and is expected to raise a total of £20m a year.
Transport Secretary Patrick McLoughlin said: "These proposals will deliver a vital shot in the arm to the UK haulage industry.
"It is simply not right that foreign lorries do not pay to use our roads, when our trucks invariably have to fork out when travelling to the continent.
"By introducing charges we will create a level playing field, increasing UK competitiveness and boosting growth."
British hauliers who operate in Europe face a variety of road tolls and charges while continental lorries can use British roads for free.
Road Haulage Association chief executive Geoff Dunning said it was a "happy day" for the industry.
"We have been campaigning for years to see a system introduced which will lessen the financial advantage currently enjoyed by our European neighbours," he said.
"UK hauliers travelling to mainland Europe have to pay road charges but foreign-registered vehicles travelling to the UK pay nothing."
Foreign lorries are to be charged up to £1,000 a year to use British roads - in a bid to benefit domestic hauliers.

Division One's bottom side declared on 548-6 to lead by 478 runs, after Lancashire reached 70-1 at stumps.
Resuming 99 not out, opener Smith got to his hundred with a four off the first ball of day two and went on to his second first-class double century.
Ryan McLaren added 81 not out as Hampshire dominated for a second successive day at the Ageas Bowl.
Smith, leading Hampshire in the absence of England's James Vince, maintained his first-day patience as he batted over nine and a half hours for his first ton since September 2014.
After eclipsing his previous best tally of 201 not out (for Durham against Surrey in 2008), Steven Croft eventually had him caught at mid-off, by which time the home side were closing in on 500.
Lancashire paceman Saqib Mahmood took his maiden first-class wicket with the third new ball to end with figures of 1-115 on his Championship debut.
Gareth Berg had Tom Smith caught behind early in the visitors' reply but Haseeb Hameed and Luke Procter saw Lancashire through to the close with no further damage.
Hampshire captain Will Smith told BBC Radio Solent:
"I wanted to bat to give the team a sizable total and batting a lot of overs to put a lot of overs into their guys' legs is plan A work. It is always a grind with me, but they bowled well for the most part.
"To go so long without a hundred is pretty galling. I was annoyed not to get one last year. I have contributed ok this year with kicking on for whatever reason.
"We got a lesson from Surrey in the last game of how to go about a four-day game. They took the benefit of winning the toss to bat first. They executed their plan to a tee and we took inspiration from that."
Lancashire fast bowler Saqib Mahmood told BBC Radio Manchester:
"It is a flat wicket, but we stuck at it well and didn't let them get away. It isn't an easy wicket to take wickets on. Nicks are not carrying to slip and there isn't a lot of zip.
"I was saying to one of the lads when you dream about your first-class debut this isn't the wicket to make it on. But it will only make me a better player. It won't always be like this, there will be easier days.
"I have been working hard on some technical things and got a go in the white ball stuff. That went well so I think I have deserved my chance."
Stand-in captain Will Smith's career-best 210 helped Hampshire post a huge first-innings total against Lancashire.

The shadow education secretary accused the government of failing in its pledge to protect school spending.
There were also calls from Conservative MPs for a re-think on proposed changes to funding.
But Education Secretary Justine Greening said schools were already receiving record levels of funding.
She told MPs that she accepted there were "cost pressures" but that schools had "significant scope for efficiencies".
But Ms Rayner called on the education secretary to tell schools how they should reduce spending.
"So what is your plan? Do you want schools to cut subjects, increase class sizes or make parents foot the bill?" she asked.
Labour MP Andrew Slaughter accused the education secretary of showing an "extraordinary degree of complacency".
Opposition MPs highlighted a National Audit Office report that schools faced £3bn in spending cuts and a forecast from the Institute for Fiscal Studies of an 8% real-term cut.
Ms Greening also faced some tough questions from her own backbenches.
They focused on the proposed National Funding Formula, which will overhaul how school spending is allocated, with calls for a "radical" re-think in how it should be calculated.
The new funding formula is intended to resolve longstanding anomalies in levels of funding.
"We know that parents and families see this unfairness playing out and it is simply untenable, I believe, to now stand up and say that these historical imbalances and differences in how we are funding our children across the country are ones that we should accept," said Ms Greening.
She said funding levels needed to keep up with changing needs - and gentrification in London meant that the number of pupils eligible for free meals had reduced.
But she heard dissatisfaction with the outcomes from a series of Conservative MPs, who had expected their local schools to receive a higher level of funding.
They called for changes to the plans, which are still under consultation.
And there warnings from the Tory backbenches that the current plans would mean teacher job cuts or even the closure of schools.
Neil Carmichael, who chairs of the Education Select Committee, suggested there needed to be a mechanism for a more substantial increase for schools in areas that had a long problem with underfunding.
But there were other Tory MPs who supported the revised funding levels.
Michael Tomlinson said the current allocations had no consistency or link to need but were based on "historical anomalies and that is why I wholeheartedly support the principle of fairer funding".
James Berry said the existing funding system was not fair - and that "whenever there is a reorganisation of a funding formula there will be winners and losers, unless we have a massive increase in funding to level up rather than level down".
There were complaints about the funding re-distribution from MPs with inner-city constituencies, which stand to lose.
Stephen Twigg, MP for Liverpool West Derby, said that 80% of schools in Liverpool were set to have budget cuts.
Labour's Angela Rayner described the changes as "robbing Peterborough to pay for Poole".
But the Department for Education said that in practice both Peterborough and Poole would be beneficiaries from the changes.
The dispute over school funding has been escalating - with head teachers threatening that they could have to start cutting hours or operating four-day weeks.
The Grammar School Heads' Association warned on Wednesday that they could have to ask parents for payments.

"Make no mistake, this is a crisis," said Labour's Angela Rayner, as MPs debated warnings that schools in England faced deep funding problems.

