It was backed by The National Museum of the Royal Navy, Hartlepool Marina Ltd, port operator PD Ports and the Tees Valley Combined Authority.
Officials involved in the bid announced the news on Friday (March 5) at the Waterfront site (former Jacksons Landing) which is being redeveloped by the council.
Council leader, Councillor Shane Moore said: “We have a proud maritime heritage and to host the Tall Ships again will be a huge honour.
“Hartlepool Waterfront and its associated facilities are second to none and we proved during 2010 that we have the capability to host an event of this magnitude.”
Millions of people visit the Tall Ships Races which are held every year in European waters and are designed to encourage international friendship and training for young people.
Vessels from all over the world sailed into Hartlepool in the four-day festival in August 2010 attracting thousands of visitors from far and wide and generated an estimated £26.5m for the local economy.
Gwyn Brown, CEO of race organisers Sail Training International, said: “We are thrilled to welcome Hartlepool as a Host Port for The Tall Ships Races 2023.
“As we return for the first time since 2010, we have no doubt that Hartlepool will extend a warm welcome to ships and trainees alike and showcase our values of international friendship and understanding and the development of young people.”
The Tees Valley Combined Authority has allocated £2millon towards the cost of the event in 2023.
Tees Valley Mayor Ben Houchen said: “Bringing the Tall Ships back to Hartlepool will attract international attention to the whole of Teesside, Darlington and, obviously, Hartlepool, boosting the region’s economy in the long-term following the coronavirus pandemic, and showcasing all we have to offer.”
Roslyn Adamson, general manager of the National Museum of the Royal Navy Hartlepool, said the event will be the perfect chance to showcase their latest developments including a planned expansion.
“We can’t wait to see the Tall Ships return to Hartlepool in 2023 and look forward to playing our part in this very special event.“