Assume that $f$ is non-negative and Riemann integrable over $[0,c]$ for all $c > 0$. The Riemann and Lebesgue integrals are equivalent on the bounded interval.
Hence, $$\int_{[0, \infty)} f = \lim_{c \to \infty} \int_{[0,\infty)} f \chi_{[0,c]} = \lim_{c \to \infty}\int_{[0,c]} f = \lim_{c \to \infty}\int_0^cf(x) \, dx = \int_0^\infty f(x) \, dx$$
where the left limit follows from the MCT for Lebesgue integrals and the right limit is a consequence of improper integrability of $f$.
The proof is similar for a Type I improper integral on a bounded interval.