The 19-year-old singer, who lives in Clackmannanshire, was ordered to leave the UK last year after her mother's visa renewal was turned down.
But the family lawyer Frances Farrell said an appeal against the decision had been allowed by the court.
The Home Office now has five days to respond to the ruling. If they accept it, the family can remain in the UK.
In November, Border Agency officials reversed their initial decision not to accept Nokuthula Ngazana's visa renewal.
However they reinstated the order to leave the UK in March after a review.
But an immigration court has overturned this decision after the family appealed.
Mrs Farrell said: "We are delighted to announce that the court has allowed Gamu, her brothers and her mother's appeal.
Continue reading the main story Aug 2010: Nokuthula Ngazana's visa renewal turned down3 Oct 2010: Gamu Nhengu rejected from X Factor show7 Oct 2010: Family lawyers say they will appeal against Home Office decision26 Nov 2010: Home Office officials reverse August decision and say they will reconsider1 Mar 2011: Family lawyer confirms new Home Office ruling telling family to leave UK11 May 2011: Family lawyer says family will be allowed to stay"If the Home Office accepts the decision of the court, then my clients will be granted leave to remain in the UK."The Home Office have a five working day limit to appeal and we hope they do not exercise that right.
"My clients are all delighted with the decision, it's the first great news they've had for months."
Ms Nhengu and her family have lived in Tillicoultry for several years after coming to Scotland from Zimbabwe.
The singer was allowed to stay in the country as a dependant while her mother studied at university.
She went on to become a household name when X Factor judge Cheryl Cole failed to put her through to the live shows, favouring Cher Lloyd and Katie Waissel.
Gamu's mother's visa expired in August 2010 and the family's application to remain was initially rejected as they did not meet Home Office criteria.
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