Republican Representative Doug Collins and House Minority Leader Kevin McCarthy debated on the floor with Democratic Representative Jerrold Nadler and U.S. House Speaker Nancy Pelosi.
Lawmakers voted 228 to 193 to give the Senate, controlled by Trump's fellow Republicans, the task of putting him on trial on charges of abuse of power for asking Ukraine to investigate political rival Joe Biden and of obstruction of Congress for blocking testimony and documents sought by Democratic lawmakers.
The vote was largely along party lines.
The Senate is expected to acquit Trump, keeping him in office, as none of its 53 Republicans has voiced support for removing him, a step that under the U.S. Constitution would require a two-thirds majority in the 100-seat chamber.
But Trump's impeachment by the House last month will remain as a stain on his record and the televised trial in the Senate could be uncomfortable for him as he seeks re-election on Nov.
3, with Biden a leading contender for the Democratic nomination to challenge him.