A turnout of 361 members for the vote approved the 72-hour strike for next Wednesday, starting at noon, The Times of London reported Thursday.
Workers also approved a second work stoppage starting two weeks later.
About 1,000 union members will take part in the strikes, the Times reported.
"Tube Lines has made enormous profits on the back of our members' hard work," General Secretary of the Rail, Maritime and Transport Union Bob Crow said
"Yet, they seem to expect that they will accept an inferior deal on pay, pensions and conditions," Crow told The Times.
"Passengers have every right to feel angry over the proposed action," the company, Tube Lines, said.
"Fortunately often the strikes are canceled but that doesn't stop Bob Crow from holding London to ransom again and again," Caroline Pidgeon, deputy chairwoman of the London Assembly's Transport Committee, said to The Times.