The company said yesterday it was ready to talk and "get back to the table to reach a new agreement" as striking workers picketed.
Newly-installed Boeing CEO Kelly Ortberg had pleaded with workers not to go on strike - the first since 2008 - ahead of the vote, saying the action would put the company's "recovery in jeopardy".
About 33,000 workers in Boeing's US Pacific north-west region late on Thursday voted down a tentative agreement reached between their union and the company that included a 25% pay increase over four years.
They voted in favour of a strike beginning on Friday at midnight Pacific time (7am GMT), which halted production of the 737 Max.
Boeing workers voted 94.6% to reject the agreement, and 96% in favour of striking.
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