The impeachment of Han, the acting president since Yoon was impeached on December 14 for declaring martial law on December 3, has pushed South Korea's once-vibrant democratic success story into uncharted territory.
In a statement after the vote, Han said he was saddened by what the unfolding events meant for the next generation, but accepted the outcome.
"I respect parliament's decision and in order to avoid further chaos and uncertainty, I will suspend my duties in accordance with relevant laws," he said, Reuters reported.
He added he would await the decision of the Constitutional Court to review the impeachment motion. The ruling People Power Party, which has objected to the opposition-led impeachment of Han, said it had filed a constitutional petition.
Finance Minister Choi Sang-mok now assumes the role of acting president as the person next in line under the law. He is set to speak to the military chief and consult the foreign minister and acting defense minister, a spokesperson said.
The motion led by opposition parties passed with 192 of the 300 votes amid rowdy scenes by People Power Party members who surrounded the speaker's podium, chanting that the vote was invalid and parliament had engaged in "tyranny".