Philip Morris International, British American Tobacco, Imperial Tobacco and Japan Tobacco International had challenged the legality of the new regulations, which mean all new cigarette packs sold in Britain will have to be olive green.
Shops will have 12 months to sell existing packets.
"The regulations were lawful when they were promulgated by parliament and they are lawful now in the light of the most up-to-date evidence," judge Nicholas Green said in Thursday's ruling.
"It's the beginning of the end for packaging that masks a deadly and addictive product," he said.
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The anti-smoking campaign group ASH said the tobacco companies had suffered a "humiliating defeat", adding that the judgement would help other countries looking to introduce similar policies.
Australia, France and Ireland have already done so.
The European Court of Justice earlier this month ruled that the Tobacco Product Directive is lawful.
Under the directive, health warnings must cover 65 percent of the front and back of every pack of cigarettes, with additional warnings on the top.
After the European Court of Justice ruling, a British health ministry spokesman said: "Smoking is the biggest cause of premature mortality and kills over 100,000 people every year in the UK.