Markey Builders (Gloucester) Ltd is planning to build the development — of which 35 per cent will be affordable homes — off the A40, near the Ross Spur services roundabout.
Access will be off a new roundabout currently being constructed, near Tanyard Lane.
All councillors were in favour with one abstention.
Guy Wakefield, spokesman for the developers, said there would be two access points on a second roundabout as well as two new crossing points for pedestrians.
The outline proposal also includes a new footway and cycle lane along the eastern part of the A40 to the Hildersley roundabout.
A decision on how many parking spaces there will be has yet to be finialised, but it will be around 435.
For more on this story, see tomorrow's Hereford Times.