If no deal is agreed the strike will take place between 7am and 11am on 13 October. Additionally staff will be "working to rule" between 13 October and 9 November. This effectively means they will not work longer than their contracted hours (37.5) during this period.
Unite's members join those of Unison, who also voted for a national strike earlier in September.
In England members voted by a margin of 62% in favour of the strike – while in Northern Ireland it was 78%.
Unite head of health Rachael Maskell called on David Cameron to "contemplate the damage he and his party have wrought on the NHS".
"Now our members have given a resounding rejection to Cameron and his government, who vetoed the 1% pay rise as recommended by the independent Pay Review Body," she said. "This meant that 600,000 NHS employees received no cost of living pay rise in April."
NHS Employers director of employment relations and reward Gill Bellord said employers are "disappointed and concerned" by the decision to strike.
"Unite has yet to reveal details of how many of its members voted, while a very small proportion of members had voted for strike action in Unison’s ballot," she said.
“Thousands of patients now face uncertainty and delays to treatment. We are asking unions to co-ordinate closely with employers right now, well ahead of the mandatory seven days minimum notice, so that hospitals and other health providers can start planning care."
