Previously it could only be used to prevent escapes, assaults or damage to property.
Deborah Coles, co-director of bereavement charity Inquest, said that the move was "statesanctioned child abuse".
"Once you have got the law behind you the danger is it will lead to greater use of restraint," she said.
A spokeswoman for the Ministry of Justice said the guidelines had been changed to bring them into line with other facilities, such as schools, which are able to use "reasonable force" to ensure good order.
"There are a number of occasions when physical restraint can be used, but it is a last resort," she said.
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