Transport Secretary Patrick McLoughlin said: "These proposals will deliver a vital shot in the arm to the UK haulage industry.
"It is simply not right that foreign lorries do not pay to use our roads, when our trucks invariably have to fork out when travelling to the continent. By introducing charges we will create a level playing field, increasing UK competitiveness and boosting growth."
Road Haulage Association chief executive Geoff Dunning said it was a "happy day" for road hauliers. "We have been campaigning for years to see a system introduced which will lessen the financial advantage currently enjoyed by our European neighbours. UK hauliers travelling to mainland Europe have to pay road charges but foreign registered vehicles travelling to the UK pay nothing," he said.
Mr Dunning said the £1,000 levy was "not enough to give us a level playing field as regards the rest of Europe", but added: "It is a good start and will help no end in beginning to prepare the ground.
"We are pleased that Mr McLoughlin has seen fit to bring forward this legislation so early in his tenure as Transport Minister; he is obviously very aware as to the important role played by UK hauliers in rebuilding the economy, increasing UK competitiveness and boosting growth."