The development will create 90 jobs on the Barleycastle Trading Estate in Lyncastle Road at Appleton Thorn.
Plans include parking for more than 100 vehicles, docking facilities for heavy lorries and delivery vans, refuelling and vehicle wash/maintenance areas and manoeuvring areas.
Residents claimed the site was greenfield land - a barrier between the trading estate and nearby homes - and that the development would create noise and light pollution, damage to the environment and to nearby important Listed buildings. Local roads were already struggling to cope with heavy traffic and the development would worsen the situation.
The warehouse will be 15.8 metres from the nearest dwelling.
Planning chiefs visited the site before reaching their decision.