The vote was the first formal test of support for impeachment in the Democratic-controlled house.The resolution passed along party lines, as expected.
It also sets out the rights Trump’s lawyers would have.
President Trump is accused of trying to pressure Ukraine into investigating unsubstantiated corruption claims against his political rival, Joe Biden, and his son who worked with Ukrainian gas company Burisma.
Trump denies wrongdoing and calls the impeachment inquiry a “witch hunt”.
Also on Thursday, another White House official present on the Ukraine call began testifying, and was expected to corroborate earlier statements about conditions placed to the release of US military aid to Ukraine.
Republicans have criticised Democrats for the closed hearings up to this point, in which Republican lawmakers have also taken part. But Democrats insist they were needed to gather evidence ahead of the public stage of the inquiry, and deny allegations they have been secretive.The vote moves the inquiry into a new phase, which could eventually see articles of impeachment recommended against Trump. If that happened, and the House voted to pass the articles, a trial would be held in the Senate.