Portugal's victory came in dramatic fashion with a 94th-minute penalty scored by Carole Costa, giving them a 2-1 win over Cameroon in their playoff match.
They will face tough competition in Group E, including the reigning world champions, the United States.
Haiti also celebrated their qualification after a 2-1 win over Chile, with teenage midfielder Melchie Dumornay scoring both goals.
They will join England, Denmark, and China in Group D, with their opening match against European champions England.
The Women's World Cup will be co-hosted by New Zealand and Australia in July-August, with 32 teams competing for the ultimate prize.
The final qualifying spot will be decided on Thursday, with Paraguay and Panama battling it out for a chance to join France, Jamaica, and Brazil in Group F.
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