The 30-year-old singer and 27-year-old NFL star announced the news Friday on social media after Wilson proposed during a trip to the Seychelles.
"She said Yes!!! Since Day 1 I knew you were the one. No greater feeling... #TrueLove @Ciara," Wilson captioned a video with his new fiancée.
"God is good! Grateful for you @DangRussWilson. You are heaven sent. I'm looking forward to spending forever with you," Ciara added.
Ciara and Wilson have been dating since spring 2015 and made their red carpet debut as a couple at the BET Awards in June. The pair are known for their vow of celibacy, which Wilson discussed with pastor Miles MacPherson in July.
"God spoke to me and said, 'I need to you lead her,'" the Seattle Seahawks quarterback said. "So I told her, 'What would you do if we took all of that extra stuff [like sex] off the table and just did it Jesus' way?' And she was relieved."
Ciara had nothing but good things to say about Wilson when she spoke to E! News in February. She praised the NFL star as "a go-getter" and "hard worker" but said they were taking their relationship "one day at a time."
"He inspires me with how driven he is and how committed he is to what he does," she said. "He's also so much fun. We have a good time both in-season and off-season ... He's the same guy no matter what day of the year, no matter what time of the day."
Ciara was previously engaged to Future and shares 21-month-old son Future Zahir Wilburn with the "Turn On the Lights" rapper. Reality star Khloe Kardashian made headlines this week for appearing to criticize Ciara and Wilson's celibacy vow.