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Indigenous Affairs Minister Linda Burney confirmed the result on Twitter.
Both the government and the majority of the Liberal party voted in favour of the constitutional alteration bill.
The final vote count was 121 to 25 in favour.
Along with National MPs, a smaller amount of Liberal MPs voted against the referendum legislation, which is likely to give the party some input when it comes to drafting the official “no” case in a pamphlet which will be distributed to voters ahead of the actual poll later this year.
Opposition leader Peter Dutton has previously said he will not stand in the way of Australians having their say on the constitutional amendment.
The bill will now head to the Senate in a fortnight.
No date for the referendum has been set but it is expected to take place in October or November.
People will be asked to vote on whether or not to constitutionally enshrine an Indigenous Voice to Parliament as an advisory body on issues that affect Indigenous Australians.