Up to 10,000 fans could be back in stadiums by mid-May as part of the government's plans to move England out of lockdown.
Outdoor sports including football, golf and tennis will be allowed to resume in England from 29 March.
The plan to ease lockdown requires four tests on vaccines, infection rates and new coronavirus variants to be met.
"The turnstiles of our sports stadia will once again rotate," said Johnson.
Leisure centres, gyms and swimming pools can open from 12 April.
Venues such as gyms, tennis courts and golf courses have been closed across England since lockdown was announced on 4 January.
The government says it will run a series of 'pilot' events for a small number of fans to attend in April.
If successful, "up to 10,000 people or 25% of total seated capacity, whichever is lower" will be allowed in stadiums for sporting events, but not before 17 May.
That could mean the FA Cup final at Wembley on 15 May is played behind closed doors, as it was in August, although fans may be able to attend the conclusion of the Premier League, which is set to finish over the weekend of 22 May.
The delayed Euro 2020 competition begins on 11 June with Wembley set to host seven matches, including the final on 11 July.
Wimbledon, which was cancelled in 2020 for the first time since the Second World War, is scheduled for 28 June to 11 July with Formula 1's British Grand Prix at Silverstone on 18 July.
What will be allowed in England from 8 March
From 29 March
No earlier than 12 April
No earlier than 17 May
No earlier than 21 June
'Very welcome' - reaction to the government's announcement
A statement from the Football Association said: "The FA is absolutely delighted fans will be allowed back soon.
"The game is simply not the same without them and we look forward to the return of full stadia as soon as it is safe and possible."
Sport England chief executive Tim Hollingsworth added: "The Prime Minister's roadmap for the return of sport and physical activity is very welcome and a clear recognition of how important it is to the nation's physical and mental health.
"We know people are desperate to get back playing the sport they love and doing the activities they have so badly missed, and now it is at last in sight."
The Lawn Tennis Association said: "We know sport has a key role in supporting the physical and mental health of the nation, so it's return will give a boost to the whole country, and is very welcome.
"Clearly tennis is a naturally socially-distanced and safe activity and so we would have liked restrictions to be lifted without delay and made the case for this. However we're now focused on supporting venues, coaches, officials and players to prepare for the return of outdoor tennis on 29 March."
Rules in Scotland, Wales and Northern Ireland
In Scotland, outdoor non-contact sports like golf and tennis are currently permitted and the government hopes to publish a route out of lockdown in the coming week.
Under Wales' current restrictions, sport and leisure facilities are closed but up to four people from two different households can meet to exercise outdoors.
First Minister Mark Drakeford has announced minor easing of restrictions and said he hopes the "stay-at-home" requirement can end within three weeks.
Indoor and outdoor sports facilities are closed in Northern Ireland, where lockdown has been extended until 1 April, with a review of current measures on 18 March.