Members of Parliament voted overwhelmingly to have him installed in the country?s top spot.
Chief Justice Pius Langa announced the results of the secret ballot which granted Mvume Dandala 47 votes and Zuma 277.
Zuma said he knew he was taking on a huge responsibility.
"I stand before this house and the nation overwhelmed by the responsibility that is being thrust upon my shoulders. I am truly humbled by the opportunity to serve as the fourth president of the Republic of South Africa," he said.
He said he hoped to take South Africa down a path of unity and reconciliation.
Zuma vowed to start a new chapter of cooperation with opposition parties and discouraged the dogmatic approach which turned every issue into a conflict.
He spoke about how he sat in all corners of the National Assembly and how he was unceremoniously kicked out in 2005 - joking about applying for honorary life membership.
The battle for the presidency was a foregone conclusion but the Congress of the People?s decision to nominate forward Dandala drew cheers, boos and jeers.
Sisulu humbled by appointment
Newly-elected Speaker of Parliament Max Sisulu said his appointment was a great honour.
"I assure honourable members that your trust is not misplaced, and I vow to execute my duties as speaker in a manner that befits your trust and the requirements of our constitution," said Sisulu.


