Combined with increases in mandatory fees, the average undergraduate will pay $12,559 - $9,926 in tuition and $2,633 in fees.
Those living on campus also will pay 5.1 percent more in room and board costs.
Altogether, a Rutgers undergraduate living on campus will pay $23,465 to attend the state's largest public university.
Out-of-state undergraduate tuition will increase by 6 percent, to $21,388.
The Rutgers Board of Governors approved the new rates on Thursday as it adopted a $2 billion university budget.
Rutgers officials say decreasing financial support from the state contributed to the need to raise tuition and fees.
