"What we're going to be doing in future is now having training for young people, learner drivers, on motorways in controlled conditions with an experienced instructor".
Lesley Young, the DVSA's chief driving examiner, echoed a similar sentiment and said: "This change will ensure that new drivers, with their instructor, will experience motorway driving and learn about the importance of the signs and signals, lane discipline and joining and leaving safely".
The changes will apply to England, Wales and Scotland.
Spokesman Jason Wakeford said: 'Rather than allowing learner drivers on the motorway, there should instead be a requirement for all newly qualified drivers to receive mandatory lessons, including on the motorway, once they have passed their test'.
Government figures show that only about 3% of new drivers take the Pass Plus course, a six-hour post-pass instruction that includes being shown how best to drive on motorways.
The response was positive, with the Approved Driving Instructors National Joint Council saying it had "been part of a campaign for this change for many years". The Royal Society for the Prevention of Accidents also backed it, subject to safeguards of the sort outlined by Grayling.
RAC road safety spokesman Pete Williams said some drivers find it "daunting" to use motorways for the first time.
"Giving learners the option to gain valuable experience on our fastest and busiest roads should further improve safety and enhance the confidence of new drivers".
Jasmine Halstead, head of learning and development for British School of Motoring, said the move would help stop motorists driving "incorrectly" on motorways.
"Hence it is great news for road safety that learners will be able to drive on motorways under supervision".