The deal means directly employed Eurostar staff will get a pay rise between 8% and 17% depending on their grade and role.
All staff will get a minimum uplift of £4,300 for everyone on £45,000 or below. Other measures included within the package are increases in travel benefits, 100% basic pay for weeks 27-40 of maternity leave and support for bringing in greater digital services.
RMT general secretary Mick Lynch said: "I congratulate our members on securing a negotiated settlement on pay and conditions. We have negotiated a settlement on pay, secured jobs and improved the conditions for our members."
However, security staff at Eurostar who are employed by contractor Mitie will begin a strike ballot over the dismissal of a colleague.
All RMT members working for Mitie in security at Eurostar will be balloted from 11 July until 1 August. The member of staff was dismissed from employment by Mitie, and the union believes the decision to be unfair.
In a separate dispute, Mitie workers have also rejected the company’s "appalling" pay offer, meaning future strike action cannot be ruled out.
Lynch added: "Our security staff members do such a vital role keeping Eurostar passengers safe and secure on their journeys across Europe."