The Senate vote ends months of parliamentary procedures and now requires Prime Minister Anthony Albanese to set a referendum date, which must happen no sooner than two months and no later than six months.
The proposed Voice to Parliament would be an independent advisory body that can advise the parliament and government about matters that affect the lives of Aboriginal and Torres Strait Islander Australians.
Mr Albanese is expected to announce a referendum for October, which will be the first since 1999 when Australians rejected the establishment of a republic.
The Senate chamber erupted in applause as president Sue Lines announced the result — 52 votes in support, 19 votes against.