The Spanish striker, signed from Valencia for £26 million this summer, calmly placed home a penalty in the 50th minute after Dean Moxey had handled a cross from Aaron Lennon.
Tottenham also gave full debuts to Paulinho and Nacer Chadli, while Etienne Capoue came off the bench as they unleashed £59m worth of new talent.
They dominated possession throughout the game but struggled to create too many chances without the injured and possibly Real Madrid-bound Gareth Bale linking their attack and midfield.
However, they were still full value for the victory against a Palace side that huffed and puffed but lacked class.
Indeed Palace's only really decent effort on goal came in the 89th minute when Hugo Lloris made an excellent double save from Kagisho Dikgacoi after the South African midfielder had been found by Kevin Phillips's knock down.
Phillips had come on midway through the second-half as Ian Hollaway made a treble substitution to try and turn around the game and in the process became the third oldest Premier League outfielder of all time after Teddy Sheringham and Gordon Strachan.
PRE-MATCH : No Bale, New Spurs – Wantaway Bale was out with a foot injury but Tottenham did start £50m worth of new talent with Paulinho (£17m), Chadli (£7m) and record signing Soldado (£26m) all in the first XI: Dwight Gayle was selected to make his Palace debut but was the only new face as Ian Holloway mainly stuck with the men that got them promoted.
35' SAVE: The best moment of an uninspired first half comes as Gylfi Siguardsson spins well outside the box and fires a superb shot on target only to see an alert Julian Speroni push it over the bar.
50' GOAL: Soldado gets his first goal for Tottenham from the penalty spot as he calmly sends Speroni the wrong way afterMoxey had handled a cross from Lennon. It is Tottenham's first converted penalty in the Premier League since May 2012.
66' LANDMARK: Kevin Phillips at the age of 40 becomes the third oldest outfield player in Premier League history (behind Teddy Sheringham and Gordon Strachan) as he comes on as part of a triple substitution.
89' DOUBLE SAVE: Lloris makes sure Tottenham clinch the three points as he makes two saves from Dikgacoi, the first one particularly impressive. They were the first saves the Frenchman had to make all day but his sweeping up at the back was impressive throughout.
TALKING POINT: How will Tottenham cope without Bale? Sure they won and they dominated but they did need a penalty to seal the points. The new signings looked like impressive building blocks but Spurs still need that quality, goal-scoring attacking midfielder to link everything together. If that is not Bale, they must use the funds from his sale to find somebody who can at least partially fill that gap. Palace meanwhile, look plucky but lacking in class. Are they doomed for the drop?
Crystal Palace: Speroni 7; Ward 6, Gabbidon 6, Delaney 6, Moxey 6; Garvan 6, Dikagcoi 7, Jedinak 8; Dobbie 6, Wilbraham 6, Gayle 6. Subs: Williams 6, Phillips 6, Chamakh 6.
Tottenham: Lloris 8; Walker 7, Dawson 6, Vertonghen 8, Rose 7; Dembele 6, Paulinho 8; Lennon 8, Sigurdsson 7, Chadli 7; Soldado 7. Subs: Kaboul 6, Capoue 7, Defoe 7.
Tottenham's goal against Crystal Palace was their first in the league from the penalty spot since 6th May 2012. Drought. (Opta)
Kevin Phillips (40-024) is the 3rd oldest OUTFIELD player in PL history behind Teddy Sheringham (40-272) and Gordon Strachan (40-083). (Infostrada)
Crystal Palace 0-1 Spurs: #CPFC have never won any of their 10 PL HOME matches in AUGUST. Last top flight home win in Aug: 1991. (Infostrada)
MAN OF THE MATCH
Aaron Lennon – Most of Tottenham's good work came down the right and Lennon was lively throughout. It was his cross that led to the penalty.
THE MATCH IN A TWEET
- Sports & Recreation
- Premier League
- Tottenham Hotspur
- Aaron Lennon
- Roberto Soldado
- Gareth Bale
- Teddy Sheringham
- Gordon Strachan
- Nacer Chadli