MPs have backed Prime Minister Boris Johnson's plan for the UK to leave the EU on 31 January.
They voted 358 to 234 - a majority of 124 - in favour of the EU (Withdrawal Agreement) Bill, which now goes on to further scrutiny in Parliament.
The bill would also ban an extension of the transition period - during which the UK is out of the EU but follows many of its rules - past 2020.
Earlier, Boris Johnson argued that it would allow the UK to "move forward".
Labour leader Jeremy Corbyn told his MPs to vote against it, saying there was "a better and fairer way" to leave the EU.
The government insists a trade deal with the EU can be in place by the end of the transition period, but critics say this timescale is unrealistic.
BBC
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