The announcement was made in Doha, Qatar, which is hosting the first road world championships to be held in the Middle East.
UCI president Brian Cookson said the body was committed to expanding the reach of cycling worldwide.
"We are delighted to be able to reveal the names of so many new hosts from such a wide range of countries around the world and we look forward to working closely with the successful cities and regions in the coming months and years as we build towards each of these UCI World Championships," Cookson said.
It is the second time in recent years the English county has won the right to host a major cycling event having also been awarded the 2014 Tour de France Grand Depart.
The last time the event was held in the UK was more than 30 years ago, when it was hosted in Sussex, southern England.
The UCI also announced on Wednesday that the 2020 Track Cycling World Championships will be held in Berlin.
It was amongst 15 events across a wide range of cycling disciplines from 2017 to 2020 to be attributed in an unprecedented move on the part of the UCI.
List of upcoming UCI World Championships
- 2017 UCI Mountain Bike Four-cross World Championships – Val di Sole, Italy
- 2018 UCI Para-cycling Road World Championships – Maniago, Italy
- 2018 and 2020 UCI Junior Track Cycling World Championships – Aigle, Switzerland
- 2018 UCI Mountain Bike Marathon World Championships – Auronzo, Italy
- 2018 UCI Indoor Cycling World Championships – Liège, Belgium
- 2019 UCI Road World Championships – Yorkshire, Great Britain
- 2019 UCI Mountain Bike World Championships – Mont-Sainte-Anne, Canada
- 2019 UCI BMX World Championships – Heusden-Zolder, Belgium
- 2019 UCI Para-cycling Road World Championships – Emmen, the Netherlands
- 2019 UCI Gran Fondo World Championships – Poznan, Poland
- 2020 UCI Track Cycling World Championships – Berlin, Germany
- 2020 UCI BMX World Championships – Houston, USA
- 2020 UCI Para-cycling Road World Championships – Oostende, Belgium
- 2020 UCI Mountain Bike Marathon World Championships – Sakarya, Turkey