Before the vote was to be finalised later on Thursday, the House of Representatives was set to debate a number of proposed conservative amendments that were expected to be voted down, according to BuzzFeed News.
When the results of the vote in favour of the Bill were announced, the House and public galleries were full of cheers, shouts, applause, hugs, kisses and general jubilation, reported the BBC.
The Bill will be put forward to the Governor-General Peter Cosgrove for Royal Assent, which could happen at anytime up to 10 days from now.
Some lawmakers, including former Prime Minister Tony Abbott sought to insert amendments into the Bill, but all of the proposed changes were voted down.
Linda Burney, who took leave after a family tragedy, on Tuesday gave a speech in support of gay marriage, paying tribute to her son Binni, who took his own life at the end of October.
'To claim that there will not be a range of adverse consequences for the freedom of speech, religion and parental rights.is wrong, ' Mr Andrews said.
The Marriage Amendment (Definition and Religious Freedoms) Bill 2017 was voted xx to xx in favor of legalizing marriage equality.
"The government is accountable in question time and so is the opposition so we will all be accountable in question time today as we are every day that parliament sits".
He said "injustices are happening this day", noting the case of Catholic Archbishop of Hobart Julian Porteous and a Canberra women who was sacked from her work after a No post on Facebook.
Marriage equality campaigners have fought for years for Thursday's vote.
Australians have always been in favor of same-sex marriage, with polling from as long as 10 years ago showing a majority support for legalizing marriage equality.
Fighting back tears, Liberal MP Sarah Henderson told the story Wednesday night of a close gay friend of hers who died months ago and who, in one of their last conversations, asked her to continue to push for same-sex marriage.