The pair have been in negotiations for several weeks over how to split the games, in particular coverage of England's matches.
ITV has secured two of England's group games, but the BBC gets first pickings in the later rounds.
The BBC will show England's first game against Paraguay on June 10, while ITV will show the matches with Trinidad & Tobago and Sweden on June 15 and June 20 respectively.
For the round involving 16 teams, the BBC will have first pick and ITV picks two and three. The rest will be divided between both broadcasters.
In the quarter-final the BBC will have first and fourth choice and ITV two and three.
If England reaches the semi-final, both broadcasters will air the game live and ITV will also air the other semi-final, but if England are out, ITV will have first pick of the semi-finals.
As usual, both broadcasters will air the World Cup final live.
