Campaigners in favour of the terminally ill adults (end of life) bill said it was a significant move towards giving people more choice over the way they died, after the Commons voted 330 to 275 in favour of the legislation.
The bill, which was brought by the Labour MP Kim Leadbeater, would give terminally ill adults with less than six months to live the right to die once the request has been signed off by two doctors and a high court judge.
It has further steps to go through before becoming law, and supporters believe assisted dying will not be an option for those with a terminal diagnosis for at least three years.
The vote, the first on the issue for almost a decade, split the political parties and the cabinet. Keir Starmer and Rachel Reeves voted in favour alongside prominent opposition MPs such as Rishi Sunak and Jeremy Hunt.
Those voting against included Angela Rayner, the deputy prime minister; Wes Streeting, the health secretary; Ed Davey, the Lib Dem leader; and Nigel Farage, the Reform UK leader.
During the five-hour debate, the Commons heard impassioned pleas on both sides. MPs recounted personal experiences of illness and death, and appeals from their constituents on assisted dying.
Esther Rantzen, who galvanised the debate last December when she revealed she had terminal lung cancer, said the bill offered everyone "equal choice". The former TV presenter said: "Those who don't want an assisted death and don't want to take part in providing assisted dying can opt out of it, don't have to do it, don't choose to end their lives that way.
So it offers everyone equal choice, whatever their religion." Kit Malthouse, who spoke in favour of the legislation, said parliament had taken a "significant first step" and called for the government to now dedicate more parliamentary time to consideration to the bill.
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