"Mr Zuma has been ready to face this trial for over 14 years. We are happy to hear that the stage is also finally ready. Mr Zuma intends to exercise the full extent of his constitutional right, which includes right to appeal," said Masuku.
Zuma's legal team have until November 1 to file their application for leave to appeal, which will be argued on November 22.
A pre-trial holding date - depending on the outcome of the appeal - has been set for February 4 2020.
The co-accused in the matter, French arms company Thales, stands accused of agreeing to pay Zuma a yearly R500,000 bribe for protection from an investigation into the controversial multibillion-rand arms deal.
The alleged bribe is said to have been facilitated by Zuma's former financial adviser‚ Schabir Shaik.
Thales' legal representative, Adv Anton Katz, said he had not received any instruction to appeal the dismissal of the permanent stay of prosecution.