The International Football Association Board voted unanimously in favour of introducing the technology on Thursday.
Blatter said: "That [Lampard goal] was the moment for me to say, 'You can't afford for something similar to happen in the next World Cup'.
"We could say it is a historic day for international football."
Fifa decided to act following Lampard's goal and eight different systems were tested, with two - Goalref and Hawkeye - being approved after going through a second stage of testing.
Blatter continued: "In the autumn of 2010, we started tests and now we are ready. I am a happy man that we did it. The objective is for 2014 but now we have a system which is available for others."
The Premier League has already said it plans to introduce goal-line technology as soon as possible, maybe at some point during the forthcoming season.