According to the news portal Haiti Libre, the motion has been adopted with 93 votes in favour, six votes against and three abstentions.
Haitian President Jovenel Moise is now expected to appoint an acting prime minister, the news outlet added.
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According to media reports, the vote of no confidence comes in light of the Haitian authorities' failure to improve the citizens' living conditions.
In February, Haiti was hit by a wave of violent protests, with demonstrators calling on Moise to step down over allegations of misuse of billions of dollars in funds intended for social development programmes amid extreme poverty in the country.