The 45-year-old Swiss has been elected president after securing 115 votes in the second round of polls and has vowed to restore the image of the game's governing body.
Uefa's general secretary secured 115 votes in the second round of polls, beating off favourite Salman Bin Ibrahim al-Khalifa into second while Prince Ali bin Hussein finished third.
Infantino succeeds the dethroned Sepp Blatter, who was suspended from all football activities for eight years - later reduced to six - along with ex-Uefa president Michel Platini for corruption.
"I cannot express my feelings in this moment," he said after hearing the result.
"I told you I went through an exceptional journey, which made me meet many fantastic people, who live and breathe football, and many people deserve to see Fifa is highly respected.
"Everyone in the world will applaud us for what we will do. Everyone will be proud of what we will do.
“I want to work with you to establish a new era in which we can put football at the centre stage.
"We need to implement the reforms, but we also need to have respect, the respect that the entire world owes to football, and make sure that finally, once again, we can focus on this wonderful world that is football. I am too moved - let us work together for this.”