In the Vedic scripture Hari-vamsa (Visnu-parva, Chapter Nineteen), there is the following description of Goloka Vrndavana:

When the King of heaven, Indra, surrendered to Krsna after Krsna raised Govardhana Hill, Lord Indra stated that above the planetary systems wherein human beings reside is the sky, where birds fly. Above the sky is the sun and its orbit. This is the entrance to the heavenly planets. Above the heavenly planets are other planets, up to Brahmaloka, where those advancing in spiritual knowledge reside. The planets up to Brahmaloka are part of the material world (Devi-dhama). Because the material world is under the control of Devi, Durga, it is called Devi-dhama. Above Devi-dhama is a place where Lord Siva and his wife Uma reside. Those brightened by spiritual knowledge and liberated from material contamination reside in that Sivaloka. Beyond that planetary system is the spiritual world, where there are planets called Vaikuntha-lokas. Goloka Vrndavana is situated above all the Vaikuntha-lokas. Goloka Vrndavana is the kingdom of Srimati Radharani and the parents of Krsna, Maharaja Nanda and mother Yasoda. In this way there are various planetary systems, and they are all creations of the Supreme Lord. As stated in the Brahma-samhita:

Thus Goloka Vrndavana-dhama is situated above the Vaikuntha planets. The spiritual sky containing all the Vaikuntha planets is very small compared to Goloka Vrndavana-dhama. The space occupied by Goloka Vrndavana-dhama is called mahakasa, or "the greatest sky of all." Lord Indra said, "We asked Lord Brahma about Your eternal planet, but we could not understand it. Those fruitive actors who have controlled their senses and mind with pious activities can be elevated to the heavenly planets. Pure devotees who are always engaged in Lord Narayana's service are promoted to the Vaikunthalokas. However, my Lord Krsna, Your Goloka Vrndavana-dhama is very difficult to attain. Yet both You and that supreme planetary system have descended here upon this earth. Unfortunately, I have disturbed You by my misdeeds, and that was due to my foolishness. I am therefore trying to satisfy You by my prayers."

"We wish to go to Your [Radha's and Krsna's] beautiful houses, about which cows with large, excellent horns are wandering. Yet distinctly shining on this earth is that supreme abode of Yours that showers joy on all, O Urugaya [Krsna, who is much praised]."