They would not be able to vote routinely on the bulk of General Assembly resolutions, however.
Full U.N. membership requires Security Council approval, with no vetoes.
In January, then-U.S. U.N. Ambassador Susan Rice objected to the Palestinian delegation sitting at the Security Council behind a nameplate that read "State of Palestine" to give the first Palestinian address to the council.
The Palestinians dropped a bid to become a full U.N. member state over a year ago because it was clear the United States would have vetoed their membership application at the Security Council.
But the General Assembly's recognition required only a two-thirds majority, which the Palestinians easily achieved on Nov. 29, 2012.