The retail-led development designed by ColladoCollins will be anchored around a 100,000-sq ft Tesco superstore and an extra 45,000 sq ft of retail and restaurant space.
There will also be a large residential element to the project with 231 one and two bedroom apartments planned.
The new-look scheme were dubbed min-villages when they were first mooted by Tesco, which has schemes in various stages of development in Bromley-by-Bow, East London, and Streatham and Woolwich in south east London.
Jonathan Simpson, Corporate Affairs Manager for Tesco, said: “We have a successful track record of completing bespoke mixed-use, complex town centre schemes within major retail areas and towns.
“We have worked in partnership with Dartford Borough Council and the local community to jointly develop the vision for Dartford’s regeneration. This decision paves the way for the vision to become a reality and bring life back to Lowfield Street and Dartford town centre.”