After six hours of debate, 409 MPs supported the proposals, with 161 voting against.
Prime Minister Tony Blair announced in December that the UK would replace the Trident submarines, and extend the life of the Trident missiles, also reducing the number of warheads by 20%, from 192 to 160 by the mid-2020s.
The UK currently has four Vanguard-class nuclear submarines, each carrying 16 Trident missiles.
Mr. Blair said: "I think it's right we take the decision now to begin work on replacing the Trident nuclear submarines. I think that is essential for our security in an uncertain world."
The fleet will take 17 years to develop and build, and will then last until about 2050.
The program stirred serious controversy.
Deputy Commons leader Nigel Griffiths and ministerial aide Jim Devine quit over the issue, as did Stephen Pound, parliamentary private secretary to Labour chairman Hazel Blears, and Chris Ruane, parliamentary private secretary to Mr. Hain.
