The policy was overwhelmingly approved in a vote at the church's general convention in Indianapolis, Indiana.
Church officials stressed the new ceremony, which includes prayers and an exchange of vows and rings, was not a same-sex marriage.
On Tuesday nearly 80% of the Episcopal Church's House of Deputies voted to authorise a three-year trial run for a provisional same-sex service.
A day earlier, the House of Bishops also resoundingly approved the new ceremony, which is
"I believe the Episcopal Church will continue to evolve on the issue of marriage equality and look forward to joining our brothers and sisters in being a headlight instead of taillight on marriage equality," said the Rev Susan Russell, an Episcopal priest.
But opponents argued during Tuesday's debate that the service amounted to an endorsement of same-sex marriage without theological justification.
"It is being seen as a marriage rite even though I was told that is not intended," said the Rev Sharon Lewis, from a Florida diocese.
Episcopal Church law and the Book of Common Prayer define marriage as the union of a man and a woman.
Under the new policy, each Episcopal bishop will decide whether to allow the ceremonies in his or her diocese. Same-sex couples must also complete counselling before undergoing the rite.