The voting results were announced Thursday at a shareholders meeting in Chicago.
Two-thirds of shareholders had to approve the $23 billion deal for it to go through.
Bill Wrigley Jr. is executive chairman and the fourth-generation family member to lead the business. He told shareholders the company respected its past as a family-run business but had to look forward.
He said the company will be able to grow in new ways under Mars' ownership.
Wrigley shares rose $79.71 in morning trading.