Ford Motor Co. is offering U.S. factory workers a hefty $10,000 in bonuses if they back a new labor pact reached on Friday with the United Auto Workers union, an agreement that is far richer than deals cut at rivals General Motors Co. and Fiat Chrysler Automobiles NV last month.

Ford’s 52,900 union-represented workers will also get another $1,500 in a yearly inflation-protection bonus over the life of the four-year agreement, along with across-the-board pay raises and better health benefits for newer hires, say people briefed...