It means Mr Trump must now face a trial in the Senate in the New Year which could remove him from office.
Following the announcement that he would become just the third US President to be impeached, an incensed Mr Trump attacked his critics on social media.
Using his Twitter account, he launched a predictably heavy salvo towards his opponents.
A riled Mr Trump wrote in capital letters: “Such atrocious lies by the radical Left, do nothing Democrats. This is an assault on America, and an assault on the Republican Party!!!!”
But the vote to impeach him sent shockwaves through the US, despite the likelihood of him actually being convicted and removed from office thought to be very small.
During a day of high drama the House voted on two charges – that the President abused his power and that he had obstructed Congress.
Nearly all Democrats voted for the charges and every Republican against.
As voting took place in the House, Mr Trump was addressing a campaign rally in Battle Creek, Michigan.
He told a cheering crowd: “While we’re creating jobs and fighting for Michigan, the radical Left in Congress is consumed with envy and hatred and rage, you see what’s going on.”
The White House later released a statement saying that the President was “confident that he will be fully exonerated” in a Senate trial.
Mr Trump will now face a trial in the Senate on the two charges on a date still to be decided.
The first charge is abuse of power. This stems from his alleged attempt to pressure Ukraine to announce investigations into his Democratic political rival Joe Biden. In the House, the vote to impeach on this charge passed by 230 votes to 197, almost completely on party lines.
Only two Democrats opposed – New Jersey’s Jeff Van Drew, who is set to leave the party, and Minnesota’s Collin Peterson.
The second charge is obstruction of Congress. This is because the President allegedly refused to co-operate with the impeachment inquiry, withholding documentary evidence and barring his key aides from giving evidence. In the House, the vote was passed by 229-198 to impeach on this charge. Democrat Jared Golden of Maine voted for the first charge but opposed this one.
No Republicans had supported impeachment, although former party member Justin Amash, from Michigan, did so.
Democratic presidential candidate Tulsi Gabbard voted “present” on both charges – effectively an abstention. Two members were absent for personal reasons.
Being impeached places Donald Trump alongside presidents Andrew Johnson and Bill Clinton. However, the Republicans have a majority in the Senate, making it almost impossible that the President will be removed from office when senators cast their votes.
And Mr Trump yesterday tweeted his confidence that there was no risk of him being convicted at the forthcoming trial.
He wrote: “100 percent Republican Vote. That’s what people are talking about. The Republicans are united like never before!” As the House was voting to impeach him, Mr Trump went on to tell his vocal supporters at the Michigan rally: “The Democrats are declaring their deep hatred and disdain for the American voter. They’ve been trying to impeach me from day one. They’ve been trying to impeach me from before I ran.”
The President also made an extraordinary intervention on the eve of Wednesday’s vote, penning a furious six-page letter to Democrat Speaker of the House of Representatives Nancy Pelosi. In it, he accused her of declaring “open war on American democracy”. But in reality, Mr Trump has little to fear from the Senate trial.
Republican Majority Leader Mitch McConnell said last week that Republican senators would act in “total co-ordination” with the President’s team during the trial.
While the House of Representatives is now Democrat-controlled, the Republicans have a majority in the Senate.