Out of 300 lawmakers, 204 voted to impeach the president on allegations of insurrection while 85 voted against it.
Three abstained, with eight votes nullified.
Yoon is now suspended from office while South Korea’s Constitutional Court deliberates whether to uphold his removal.
Prime Minister Han Duck-soo steps in as the interim president.
The court now has 180 days to rule on Yoon’s future.
If it backs his removal, Yoon will become the second president in South Korean history to be successfully impeached.
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