It was only the fourth time in more than three decades a sitting prime minister has been censured and the second in Mr Howard's seven-and-a-half years in office.
The motion attacked Mr Howard for failing to adequately inform Australians that intelligence agency warnings about a war with Iraq would increase the likelihood of a terrorist attack.
It also noted that no evidence had yet been produced by Mr Howard to justify his claims that in March this year, Iraq possessed stockpiles of completed biological chemical weapons that justified going to war.
The Opposition, Greens and Australian Democrats voted together to defeat the Government by 33 votes to 30.
Greens senator Bob Brown said Mr Howard was involved in an unprecedented deceit of the nation and deserved censure.
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