The vote fell largely along party lines, with no Republicans voting to impeach Mr Trump.
There were a few defections on the Democratic side, with congressmen Jeff Van Drew and Collin Peterson voting against the first article, abuse of power.
Mr Van Drew, who represents a New Jersey district, is reportedly considering switching parties to become a Republican.
The two lawmakers were joined by a third Democrat, congressman Jared Golden, to vote against the second article, obstruction of Congress.
Congressman Justin Amash, who left the Republican Party to become an independent earlier this year, voted to impeach Mr Trump on both charges.
One of the most hotly watched lawmakers, Democratic presidential candidate, Tulsi Gabbard, simply voted present on both articles.
Ms Gabbard later released a statement explaining her decision.
“After doing my due diligence in reviewing the 658-page impeachment report, I came to the conclusion that I could not in good conscience vote either yes or no,” it stated.
“I am standing in the center and have decided to vote Present. I could not in good conscience vote against impeachment because I believe President Trump is guilty of wrongdoing.
“I also could not in good conscience vote for impeachment because removal of a sitting President must not be the culmination of a partisan process, fueled by tribal animosities that have so gravely divided our country.”