South Korea's President Yoon Suk Yeol has been impeached.
A total of 204 lawmakers voted to support the motion, the speaker said.
Meanwhile, 85 lawmakers voted against the motion and three abstained. A further eight votes were nullified.
All 300 members of parliament participated in the vote. It comes after members of Yoon's ruling People Power Party walked out of the first impeachment vote last week.South Korean Prime Minister Han Duck-soo has vowed to "ensure stable governance" after the National Assembly voted to impeach President Yoon Suk Yeol.
Han promised to do his best to run the government stably after the impeachment.
"My heart is very heavy," Han, who becomes acting president as Yoon's presidential powers are suspended, told reporters after the vote.
"I will devote all my strength and efforts to ensure stable governance," he added.
Opposition hails 'victory for the people'
South Korea's opposition Democratic Party has celebrated after the successful motion to impeach Yoon.
"Today's impeachment is the great victory of the people," Democratic Party floor leader Park Chan-dae said following the vote.
Once the copies of the impeachment document are delivered to Yoon and to the Constitutional Court, his presidential powers and duties will be suspended.
The court now has 180 days to decide on Yoon's political fate.
Meanwhile, Prime Minister Han Duck-soo has became South Korea's acting president.
Parlaiment speaker Woo Won Shik urged the government and parliament to work together to stabilize the economy and foreign affairs.
Finance Minister Choi Sang-mok will convene an emergency meeting on the economy on Sunday.