Transport Secretary Patrick McLoughlin said the investment amounts to £976m a year – enough to fix around 18 million potholes across the country.
McLoughlin said: “Poorly maintained local roads, blighted by potholes, are a menace to all road users.
“The £6 billion funding I am announcing today will put an end to short term fixes and will mean we have committed £10 billion between 2010 and 2021.”
Over £4.7 billion will be shared between 115 councils while a further £575m will be available through a new challenge fund to help repair and maintain local highway infrastructure such as junctions, bridges and street lighting.
Another £578m has been set aside for an incentive fund scheme which will start in 2016 to reward councils who demonstrate they are delivering value for money in carrying out cost effective improvements.
Matthew Lugg, director of public services for Mouchel Infrastructure Services and advocate for the highways maintenance efficiency programme, said: “Taking a more holistic approach to planning roads and services can be game changing and deliver greater efficiencies.
“Councils who think about long term planning and how they work together to share their resources, achieve greater economies of scale and keep the road surface in good repair, ensuring value for money for the taxpayer.
“Today’s announcement by the government will help to deliver this.
Geoff Allister, executive director of the Highways Term Maintenance Association said: “We congratulate the Transport Secretary in taking the step of introducing an incentive element from 2016/17 into the local highways maintenance funding for councils.
“Those that can show they truly understand the value of their asset can plan greater efficiencies and deliver cost-effective, preventative maintenance, making the available money go even further.”
Full details of funding allocations are available as an interactive map here