Tymoshenko received the required minimum of 226 votes in support of her nomination from the coalition - all 156 members of her eponymous bloc and all but two of the 70 member pro-presidential Our Ukraine party.
Lawmakers voted by raising their hands after the flamboyant 'orange revolution' leader failed by a single vote to get backing for her appointment twice on December 11. The coalition blamed technical malfunctions.
Smiling Tymoshenko, wearing her traditional peasant plaits and a white suit, was presented with a bouquet of roses from her fellow coalition members.
President Viktor Yushchenko's ally in the 2004 mass protests that brought him to power, Tymoshenko was sacked by the president after about eight months in the post in 2005 amid a series of scandals. The two reconciled their differences during coalition talks after early parliamentary elections in September.
The Party of Regions led by the president's longtime rival, acting Prime Minister Viktor Yanukovych, its allies Communists and ex-speaker Volodymyr Lytvyn's bloc did not take part in the vote.
Yanukovych, who was defeated by Yushchenko in the presidential race but returned as premier in 2006 after a resounding victory in parliamentary polls, announced from the parliamentary rostrum after Tuesday's vote that his party would go into opposition.
He said Tymoshenko's return as premier promised new political upheavals in the ex-Soviet country. "The country is facing new ordeals," Yanukovych said.
The 450-seat Supreme Rada will now approve a new Cabinet and distribute parliamentary committee portfolios, but lawmakers said the issues could be postponed until Wednesday.
