The Pope's shift in stance on homosexuality has been welcomed by activists in conservative Italy.
Francis said that gay people should not be "marginalised" and that it was not for him to judge a person's sexuality.
In a significant change, the Pope struck a much more conciliatory tone than traditional Vatican doctrine, which has called homosexuality "a deviation" and "an irregularity" that should preclude gay men from becoming priests.
"If someone is gay and he searches for the Lord and has good will, who am I to judge?" the Pope said. "We shouldn't marginalise people for this. They must be integrated into society."
Nichi Vendola, one of Italy's very few openly gay politicians, said: "At a stroke, Pope Francis has done an astounding thing, separating the issue of homosexuality from paedophilia."