But same-sex weddings will not happen in Australia until January 2018 because same-sex couples will still need to lodge a Notice of Intended Marriage, which must be completed a month before the wedding.
The House of Representatives passed the bill to change the definition of marriage from exclusively between a man and a man to "a union of two people".
The legislation will become law as soon as it is granted royal assent by the Governor-General.
Amendments made by conservatives to the cross-party same-sex marriage bill are said to be defeated with leader of the house, Christopher Pyne, stating he will oppose them.
The Greens have also indicated they will propose amendments.
Australia's Senate had voted decisively in favour of the gay marriage Bill last week, reported the BBC. The major parties want the legislation passed this week after a majority of Australian's endorsed change in a postal ballot last month. "Australia has done it", a beaming Prime Minister Malcolm Turnbull said.
The House of Representatives is holding its final two-week session of the year, which is giving priority to lifting the ban on same-sex marriage in Australia.
The next day, Liberal MP Andrew Wallace, who is a devout Catholic, shared with his colleagues how his gay daughter helped change his position on same-sex marriage. "The Parliament has got on with it and we have voted today for a equality, for love, it is time for more marriages, more commitment, more love, more respect, and we respect every Australian who was voted, those who voted yes, and those who voted no, this belongs to us all, this is Australia!"
However, the politics have not come to an end: Conservative cabinet minister Peter Dutton - a supporter of traditional marriage - accepted that in the end it was a numbers game in parliament.
A nonbinding postal survey found that 62 percent of Australian respondents wanted gay marriage to be legal.