The number of votes on impeachment motion shows that some members of Park Geun-hye’s ruling Saenuri party voted in favor.
PM Hwang Kyo-ahn has become interim president.
Thousands of people took to the streets in recent weeks demanding Park Geun-hye’s removal. After the vote, she again apologized that she had “created this national chaos with my carelessness”.
At the heart of the crisis is the relationship between Park Geun-hye and her close friend Choi Soon-sil, who stands accused of using her connections to gain influence and financial benefits.
Choi Soon-sil is now in custody, facing charges of coercion and abuse of power.
Prosecutors say Park Geun-hye had a “considerable” role in the alleged corruption, which she has denied.
Hwang Kyo-ahn, 59, spent most of his career as a prosecutor, is now acting-president.
He had earlier served as justice minister, before becoming prime minister in June 2015.
In 2014, as justice minister, Hwang Kyo-ahn oversaw the banning of the Unified Progressive Party, which was accused of holding pro-North Korean views.
The move was criticized by the human rights group Amnesty International.
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