The change was approved overwhelmingly, 303-9. Ukrainian Foreign Minister Pavlo Klimkin said before the vote that the move underscored his country's determination to pivot towards the West, Reuters reported.
"This will lead to integration in the European and the Euro-Atlantic space," he said in Kiev, the capital, according to Reuters.
The former Soviet republic had at one time pursued NATO membership, but in 2010, pressure from neighboring Russia prompted it to adopt nonaligned status, which barred it from joining military alliances.
President Viktor Yanukovych was deposed in February after months of street protests over his pro-Moscow tilt. The protests exploded into deadly violence, prompting Yanukovych to flee to Russia.
In May he was replaced by Western-leaning Petro Poroshenko, who initiated Tuesday's vote.
Poroshenko called last month for repealing Ukraine's non-aligned status, which failed to guarantee the country's security, Kyiv Post reported.
Last March, Russian troops moved into Ukraine's Crimean Peninsula and Russia subsequently annexed the region. Russia also has provided military and financial support for a rebellion by pro-Russian separatists in eastern Ukraine.
The intervention in Ukraine is the latest attempt by Russian President Vladimir Putin to thwart former Soviet republics on his country's border from joining the Western military alliance.
Sporadic fighting continues to erupt in eastern Ukraine despite a fragile cease-fire between the separatists and Ukrainian national troops. Poroshenko has granted the eastern region more autonomy as he pursues talks on a permanent settlement.
Failure to resolve the conflict could complicate Ukraine's efforts to meet the requirements for NATO membership.
Russian Foreign Minister Sergey Lavrov said Ukraine's plans to end its non-aligned status were "counterproductive," TASS news agency reported. "It will only escalate the confrontation and creates the illusion that it is possible to resolve Ukraine's deep internal crisis by passing such laws," he said, according to TASS.
NATO issued a statement that the organization's "door is open" to Ukraine. "Ukraine will become a member of NATO if it so requests and fulfills the standards and adheres to the necessary principles," the statement said. "Should Ukraine decide to apply for NATO membership, we will assess its readiness to join the Alliance in the same way we do with any candidate."
Writing on Facebook Monday, Russian Prime Minister Dmitry Medvedev said: "In essence, an application for NATO membership will turn Ukraine into a potential military opponent for Russia," the BBC reported.
