The chain said it looked forward to “continuing our discussions with the council and local residents to address any concerns”, with the plans aiming to create 120 jobs.
The council officers previously said the restaurant would be within “easy walking distance of schools and locations where young people congregate”, and that it would not promote healthy eating.
They also expressed concerns over the impact on traffic in the area.
The council previously completed a programme of roadworks on the A61, known as London Road, to ease traffic congestion.
McDonald’s claimed the level of new traffic created by the development would be “modest and unlikely to have a material impact”.
However, officers said the restaurant would be “entirely” reliant on access from the A61 and criticised a lack of safe access for pedestrians and cyclists.
A total of 270 objections to the initial plans were submitted, with 31 people offering comments in support of the plans.