Hospitality, retail and drinks bosses have previously warned that the policy could raise drink prices.
Members of the Welsh Parliament approved the legislation by 41 votes to 17 on Tuesday night.
Speaking after the vote in the Senedd, Deputy First Minister Irranca-Davies, who is responsible for climate change policy, called it “a significant moment for Wales”.
“International evidence shows a deposit return scheme can tackle litter, improve on the go recycling and further reduce waste,” he said.
“This will keep valuable materials in circulation for longer – building on the world-leading recycling system Wales has already developed.
“I look forward to working closely with businesses, local authorities and communities as we move towards implementation in 2027.”
The government said it would appoint a “Deposit Management Organisation” to run the scheme so that it can be ready for October 2027.
It added that it will also look at how reusable drinks containers could be included alongside single-use deposit items, “helping to reduce waste and support a more circular economy”.