The Democrat-controlled House of Representatives voted in favour of the two articles of impeachment – abuse of power, and obstruction of congress.
The action now moves across the Capitol to the Senate for trial.
But with a Republican-controlled Senate, the chances the president will be removed from office are incredibly slim.
Senators will act as jurors and House politicians will serve as prosecutors known as managers in the trial. US Chief Justice John Roberts will preside over it.
Two thirds of senators – or 67 if all are present – must agree on a conviction for Trump to be removed from office. With the Senate controlled by Republicans 53 to 47, it’s most likely that the president will be acquitted.
Senate Majority Leader Mitch McConnell has said there is “no chance” the president is going to be removed from office.
“My hope is that there won’t be a single Republican who votes for either of these articles of impeachment,” he said prior to the House vote.
His prediction came true in the House, with no Republicans voting to impeach the president.
Senate Minority Leader Chuck Schumer has demanded Republican senators hold a “full and fair” trial calling new witnesses from the Trump administration and producing new documents from the White House.
McConnell has resisted, and said he is actively coordinating with the White House on how best to defend the president during the Senate trial.
Democrats have called on McConnell to recuse himself from the proceedings, saying he has abdicated his role as an impartial juror in the trial.
The other two presidents also to have been impeached for alleged misconduct in office, Bill Clinton and Andrew Johnson, were acquitted in the Senate.
Click here to find out more about the impeachment investigation and what prompted it.
