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You can use the functions download_url() and wp_handle_sideload().

download_url()

Downloads a url to a local temporary file using the WordPress HTTP Class. Please note that the calling function must unlink() the file.

wp_handle_sideload()

Handle sideloads, which is the process of retrieving a media item from another server instead of a traditional media upload. This process involves sanitizing the filename, checking extensions for mime type, and moving the file to the appropriate directory within the uploads directory.

Example:

// Gives us access to the download_url() and wp_handle_sideload() functions
require_once( ABSPATH . 'wp-admin/includes/file.php' );

// URL to the WordPress logo
$url = 'http://s.w.org/style/images/wp-header-logo.png';
$timeout_seconds = 5;

// Download file to temp dir
$temp_file = download_url( $url, $timeout_seconds );

if ( !is_wp_error( $temp_file ) ) {

    // Array based on $_FILE as seen in PHP file uploads
    $file = array(
        'name'     => basename($url), // ex: wp-header-logo.png
        'type'     => 'image/png',
        'tmp_name' => $temp_file,
        'error'    => 0,
        'size'     => filesize($temp_file),
    );

    $overrides = array(
        // Tells WordPress to not look for the POST form
        // fields that would normally be present as
        // we downloaded the file from a remote server, so there
        // will be no form fields
        // Default is true
        'test_form' => false,

        // Setting this to false lets WordPress allow empty files, not recommended
        // Default is true
        'test_size' => true,
    );

    // Move the temporary file into the uploads directory
    $results = wp_handle_sideload( $file, $overrides );

    if ( !empty( $results['error'] ) ) {
        // Insert any error handling here
    } else {

        $filename  = $results['file']; // Full path to the file
        $local_url = $results['url'];  // URL to the file in the uploads dir
        $type      = $results['type']; // MIME type of the file

        // Perform any actions here based in the above results
    }

}