After weeks of negotiations, ITV has secured two out of three of England's group games, namely the matches against Trinidad & Tobago and Sweden, while the BBC has the first match against Paraguay.
The BBC will then have first choice on the second-round and quarter-final games. Second-round opponents are likely to be either Poland or Germany.
If England do not reach the semi-final stage, ITV will have the first pick of the semi-final games.
In previous years, World Cup matches were divvied up by tossing a coin if neither side could agree.
The World Cup kicks off in June with England's odds to win at 11/2, just behind Brazil on 11/4, according to bookmakers Coral.
Mark Sharman, ITV director of sport, said: "We are very pleased to have reached an agreement that gives ITV guaranteed coverage of two England group games, in particular a peak-time group decider against Sweden."
Roger Mosey, BBC director of sport, said: "There will be more television, radio and new-media coverage of this World Cup than ever before and we're confident audiences will have a great choice of viewing."
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