Fracking was approved near the village of Kirby Misperton, 250 miles (400 kilometers) north of London, despite opposition to the controversial gas extraction technique.
Groups including Friends of the Earth said in a joint declaration Tuesday they will continue to fight to protect "our beautiful countryside" from fracking.
Activist Simon Bowens called the decision "an absolute travesty" and said the battle to prevent fracking is not over. Various appeals are being studied.
Licenses had been stalled because fracking had been judged the likely cause of minor earthquakes in England.
Earlier license applications had been rejected.