The motion was approved with 204 votes in favor, 85 against, and three abstentions during a historic plenary session.
The first impeachment motion over martial law declaration had been invalidated after a majority of lawmakers from the ruling People Power Party walked out and did not participate in the vote.
With parliamentary approval, the matter will now be reviewed by the Constitutional Court, which has up to 180 days to decide.
During this period, Yoon's powers will be suspended, and Prime Minister Han Duck-soo will serve as acting president. If the court upholds the impeachment, a snap election will be held within 60 days.
South Korea's National Assembly has passed a second impeachment motion against President Yoon Suk-yeol.
IGIHE