However, world football's governing body insisted Russia and Qatar will stay as hosts of the 2018 and 2022 tournaments respectively.
Fifa president Sepp Blatter said he asked the executive committee to vote in favour of publishing the report.
"We have always been determined the truth should be known," he said.
"That is, after all, why we set up an independent ethics committee with an investigatory chamber that has all necessary means to undertake investigations on its own initiative."
Only a disputed summary of Michael Garcia's 430-page report into the bidding process for the 2018 and 2022 World Cups has been published.