The House Judiciary Committee voted along party lines, with a tally of 23-17, on each of the two articles. The approval clears the way for a full House vote, expected next week.
Broadcast networks broke into regular programming to cover the vote, along with cable news networks.
Republicans were irate after the vote delay, but Democrats saw it as a way to hold the historic vote at a time when more people are watching. Had Nadler not switched the time of the vote, it would have taken place close to midnight ET.
President Andrew Johnson was impeached by the House in 1868, but acquitted after a Senate trial. BIll Clinton was impeached in 1998, but the Senate declined to convict him the next year. Richard Nixon resigned in 1974 before a full House vote.