The company revealed on Tuesday that Ben van Beurden would take over from Voser on 1 January next year.
"Ben has deep knowledge of the industry and proven executive experience across a range of Shell businesses,” Shell chairman Jorma Ollila said.
"Van Beurden's selection came after a comprehensive assessment and review of internal and external candidates led by the Board Nomination and Succession Committee."
Van Beurden joined Shell in 1983, working across both the upstream and downstream businesses, and the 55-year old has held the position as the company's downstream director since January this year.
Voser announced in May that he would be stepping down from the chief executive role which he has held since July 2009.
He will leave the company in March next year, marking the end of 29 years with Shell.