The plans to replace show jumping with obstacle course racing are supported by national federations.
The proposal will be forwarded to the International Olympic Committee, who will make a decision on the new format in the Olympics.
The switch had to get at least two-thirds of the support it needed.
The international governing body of the sport said there was an 83.3% vote in favor of the change.
"UIPM has been given a mandate to propose a new-look modern pentathlon to the IOC for possible inclusion in the Los Angeles 2028 Olympic Games," the statement said.
The modern pentathlon consists of fencing, swimming, show jumping and a shooting event.
The show jumping was stopped after a coach was seen hitting a horse.
If show jumping is replaced with obstacle course racing, Joe Choong will quit modern pentathlon.
The athletes from USA Pentathlon oppose the changes.
Show jumping will be one of the five events for the Olympics in Paris, but modern pentathlon will not be included in the Games in Los Angeles.
From 61 suggestions, obstacle course racing was chosen to replace show jumping. Also considered were climbing, javelin, long jump, and cyclo-cross.
Obstacle course racing has been tested in four countries this year and the results have been good.
The only sport that has been tested as an alternative to show jumping is it.
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