Sixty-one Senators against 20 voted in favour of the impeachment Wednesday.
Ms Rousseff was suspended in May after the Senate voted to go ahead with the impeachment process.
Brazil’s lawmakers accused her of re-assigning funds between budget items.
Ms Rousseff said she did nothing wrong, and called the attempt to remove her a coup d’etat.
He impeachment puts an end to 13 years in power of her Workers’ Party.
Acting President Michel Temer will serve out her term, which ends on 1 January 2019.