MPs have voted by a majority of 372 to back the Government's plan to trigger Article 50 to begin the Brexit process by the end of March 2017.
Announcing the vote in the House of Commons, Speaker John Bercow, said that 461 had voted in favour, while 89 had voted against it.
MPs also voted in favour of a Labour amendment calling on the Government to publish its Brexit plan before formal talks begin no later than the end of March 2017.
Brexit Secretary David Davis has promised MPs that the Government will set out its "strategic plans" ahead of the triggering of talks on withdrawal from the EU, but said it will not reveal anything which might "jeopardise our negotiating position".
Mr Davis faced calls from opposition MPs and some Conservative backbenchers that the plan must be detailed enough to withstand scrutiny in the Commons before the planned triggering of Article 50 at the end of March 2017.
Former chancellor and remain supporter Kenneth Clarke said the Prime Minister's plan to reveal her plan was "extremely vague", and called for it to be set out in detail in a White Paper for publication before the UK begins to leave the EU.
However, Mr Davis insisted the Government must leave "room for manoeuvre" to respond with "a high degree of agility and speed" to developments in extremely complex negotiations expected to last two years.
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