The seven-to-four vote was the culmination of a six-month committee investigation of the government's handling of the pandemic.
It formally approved a report calling for prosecutors to try Mr Bolsonaro on charges ranging from charlatanism and inciting crime to misuse of public funds and crimes against humanity, and in doing so hold him responsible for many of Brazil's more than 600,000 Covid-19 deaths.
Mr Bolsonaro has denied wrongdoing, and the decision on whether to file most of the charges will be up to Prosecutor-General Augusto Aras, a presidential appointee who is widely viewed as protecting him.
The allegation of crimes against humanity would need to be pursued by the International Criminal Court.
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