The Boston Redevelopment Authority cleared a key hurdle Wednesday in its push to retain some of its most powerful development tools, when the City Council voted 10 to 3 to extend urban renewal powers through 2022.

The vote came after weeks of negotiations with the council. Several members pushed for stronger oversight of the quasi-governmental authority, which oversees most big development projects in Boston, and were skeptical that it still needs often-controversial powers such as eminent domain over neighborhoods that have improved considerably since urban renewal was launched in the 1960s.

As a result of those negotiations, the extension was shortened from 10 years to six, and the BRA agreed to a raft of new oversight rules, including notifying the council when it wants to take private property through eminent domain, and regular reporting of its urban renewal activities.

The BRA also said it will review the boundaries of some of its 14 urban renewal zones, while considering new ones in lower-income neighborhoods such as Mattapan and East Boston.

In exchange, the BRA will retain many tools it says are essential for complex development projects downtown and in other parts of the city. And, it says, the months of talks helped it forge a stronger relationship with the council.

“BRA senior leadership has probably spent more time with the City Council in the last year than they probably have in the last 10 years,’’ said director Brian Golden. “We’re hoping to have a more collaborative relationship going forward.’’

Those changes won over skeptics, including the council’s president, Michelle Wu, who had pushed for a two-year extension.

“There’s still more work to be done,’’ Wu said. “But I trust this council’s ability to enforce and monitor this agreement.’’

A few of her colleagues remained opposed.

“At meetings I went to in my community, people were emphatically saying no to this,’’ said Councilor Tito Jackson. “I believe we should listen to the voice of the people who have had to deal with many of these issues.’’

The extension still needs approval from the state Department of Housing and Community Development before the program expires April 30. Golden said he was optimistic that will happen, though the BRA has also prepared to ask for a 60-day extension as a backstop.

Tim Logan can be reached at tim.logan@globe.com. Follow him on Twitter at @bytimlogan.