Not only did Pakistan approve it once with the old military government, but it was renewed again in 2008. Musharraf and the others who are publicly criticizing the assault have glossed over their own words and agreements. The Guardian:
The deal was struck between the military leader General Pervez Musharraf and President George Bush after Bin Laden escaped US forces in the mountains of Tora Bora in late 2001, according to serving and retired Pakistani and US officials.
Under its terms, Pakistan would allow US forces to conduct a unilateral raid inside Pakistan in search of Bin Laden, his deputy, Ayman al-Zawahiri, and the al-Qaida No3. Afterwards, both sides agreed, Pakistan would vociferously protest the incursion.
"There was an agreement between Bush and Musharraf that if we knew where Osama was, we were going to come and get him," said a former senior US official with knowledge of counterterrorism operations. "The Pakistanis would put up a hue and cry, but they wouldn't stop us."