The Veterans Committee announced the voting results Monday. They will be enshrined in Cooperstown, New York, on July 25.
"I think he was one of the guys who started managers looking at doing more creative things," said Hall of Fame shortstop Ozzie Smith, one of Herzog's star players.
Smith was on the 16-member panel that elected Herzog. Candidates needed 12 votes to make it, and Herzog got 14. The 78-year-old Herzog missed by one vote in 2007.
Harvey umpired in the National League for 31 seasons before retiring in 1992. He worked five World Series.
The 79-year-old Harvey also missed by one vote two years ago. He was picked on 15 of 16 ballots this time, and became the ninth umpire in the Hall.
"He belongs in there," said Hall of Fame manager Tom Lasorda, another committee member. "He had the players' respect. He had the pitchers' respect — most of the time."