Avant Homes now has permission to build 72 homes between Doncaster Road and Lings Lane in Hatfield along with landscaping, public open space, means of access and car parking.
Eight councillors voted in favour, three were against.
Construction is already underway for over 400 houses next to the proposed development from two other housing firms.
The development comprises 72 dwellings in a mix of two to four bedroom dwellings of two storeys in height, with the exception of one house-type where six units are two and a half stories high.
Doncaster Council planners received five letters of objection to the development on a number of issues.
Kate Haigh, who lives across from the proposed development, spoke against the application.
She said: “The main problem that we have is, if this development was a standalone development, I could understand the logic to it but it’s not.
“So within a one mile square radius you’ve got potentially four new housing developments and the impact of each of them together in relation to the noise, the highways, the roads, and the local services is going to be immense.”
Other residents objecting raised issues such as overcrowding, overdevelopment, loss of trees and hedgerows and impact on amenities such as schools and doctors surgeries.
Hatfield Town Council, who can give opinions but has no say in the outcome, also put forward an objection.
The developer will have to provide 16 additional primary school and 11 additional secondary school places at a cost of just under £400,000 in a Section 106 agreement plus a sum for affordable housing.
Jim Lomas, on behalf of Avant Homes, said: “It’s a sustainable location with no technical issues arising and the land use is compliant with the emerging local plan.
“It certainly complies with the guidelines in the South Yorkshire design guide, affordable housing Section 106 contributions are being made, and consider this site to be a logical sustainable compatible assembly policy compliant form of development.”