DETROIT — Ford workers narrowly approved a new four-year contract, wrapping up five months of negotiations between the United Auto Workers union and Detroit automakers.

The UAW said late Friday that Ford’s contract passed with a 51.4-percent vote. The agreement covers 53,000 U.S. hourly workers at 22 plants.

Union leaders held a news conference earlier this week to push for the Ford agreement when they feared workers would reject it.

Some workers said the union didn’t push hard enough to win back things they lost in previous agreements, including annual wage increases. They also wanted a two-tier wage system eliminated immediately instead of over eight years, as the contract promises.