Balne Lane Library will be demolished and replaced with a new housing development.
Plans to knock down and replace it with 56 affordable homes have been approved.
The building is currently empty after Wakefield Council transferred services to their new Wakefield One building on Burton Street.
Southdale Ltd has been granted planning permission for the development on the corner of Balne Lane and Elder Green, which will be available to rent through a social landlord.
Residents had raised concerns over drainage, which could cause flooding at the bottom of Elder Avenue and Elder Green.
And families also felt the affordable homes would result in house prices falling across private properties in the area.
But it was felt the additional houses were needed for the area. Demolition can only take place between 8.30am and 5pm, Monday to Friday, and from 9am to noon on Saturdays.
The development will include 34 two-bedroom houses, suitable for four people, and 22 three-bedroom houses, which would be for a family of five.
Parking will be available in front of the properties.