The vote came at the end of eight days of debate, including two all-night sittings with one that ended when an MP was rushed to hospital with a medical emergency.
Visibly emotional government MPs including Jaala Pulford, Jaclyn Symes, Cesar Melhem all embraced in the wake of the vote, which occurred in front of a packed public gallery where pro-euthanasia advocates including Andrew Denton, Dr Sally Cockburn sat alongside pro-life campaigners including Australian Christian Lobby Victorian chief executive Dan Flynn.
The vote came at the end of eight days of debate, including two all-night sittings with one that ended when an MP was rushed to hospital with a medical emergency.
The scheme, which is expected to come into play by 2019 will grant terminally ill patients of sound mind and a life expectancy of less than six months the ability to choose when they die.
The government has not yet released details on the lethal formula that will be given to patients, but has drafted the plan in which the drugs will be issued to patients in a locked box to which only they have the key.