The final vote was 232-197, with 10 House Republicans supporting the measure.
Trump has become the first president in US history to ever be impeached by the House twice.
The matter will now go before the Senate, which will decide whether Trump should be convicted and removed from office.
The trial will likely conclude after Joe Biden takes office anyway, but a conviction would prevent Trump from running for president again.
A tenth House Republican, David Valadao of California, has voted “yes” on the article of impeachment against Donald Trump.
The vote currently stands at 229-195 in favor of impeachment.
Nine members have not yet voted.