Openly gay youths will be allowed to join scouting, a historic decision the Boy Scouts of America says will keep it unclouded by "a single, divisive, and unresolved societal issue."

More than 60% of the group's 1,400-member national council voted Thursday at an annual meeting in Grapevine, Texas, for the change, which takes effect Jan. 1.

"No youth may be denied membership in the Boy Scouts of America on the basis of sexual orientation or preference alone," says the resolution.

"No youth may be denied membership in the Boy Scouts of America on the basis of sexual orientation or preference alone," says the resolution.

The BSA, however, will maintain its ban on gay adult leadersPhotos: Boy Scouts by the numbers

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"The resolution also reinforces that Scouting is a youth program, and any sexual conduct, whether heterosexual or homosexual, by youth of Scouting age is contrary to the virtues of Scouting," the 103-year old organization said in a statement after the vote.

The BSA said there are no plans for further review of the issue.

BSA President Wayne Perry said the vote came after "an extensive dialogue within the scouting family (that) was exhaustive and ... very respectful."

"No matter how you feel about this issue, kids are better off in scouting," Perry told reporters. "Our mission is to serve every kid."

The Human Rights Campaign said the BSA took a "historic step forward."

"Unfortunately, the new policy does not go far enough, leaving adult Eagle Scouts, scout leaders, and parents behind," the group said.

Scouts for Equality and GLAAD lauded the BSA's "commitment to creating a more inclusive organization."

Jennifer Tyrrell, an Ohio mother who was ousted as a den leader in April 2012 because she's lesbian, called Thursday's vote "incredible."

"They've never been raised to discriminate against anyone regardless of sex or color or anything, so they can't understand why people care so much," she said of her children. "... Definitely, one day, I hope they look back and think that we're part of something amazing."