Meanwhile, 85 lawmakers opposed the motion, with three abstention votes and eight invalid votes.
Under the constitution, Prime Minister Han Duck-soo becomes acting president while Yoon remains in office but with his presidential powers suspended.
Now, Yoon faces potentially even more serious charges in the same court, which must decide whether his ill-conceived power grab amounted to rebellion.
Out of 300 lawmakers, 204 voted to impeach the president on allegations of insurrection while 85 voted against.