The union confirmed that all Tube cleaners will now be paid the wage of £7.85 per hour backdated to July 1.
RMT leader Bob Crow said: "This is a massive and historic victory for RMT and our London Underground cleaners and will come as a boost for other low-paid workers right across the city.
"It shows very clearly that, if you join a union, get organised and stand up and fight, then you can win major improvements to your rate of pay.
"For years we have mobilised the cleaners and mounted demonstrations - often in the teeth of the most outrageous intimidation - and today we see the culmination of that industrial and political pressure with this ground-breaking agreement on pay.
"It is a tribute to the solidarity, bravery and resilience of our members and their reps that they have stood firm and won this truly inspirational victory."