Sunday's vote was largely a formality after the two countries last week agreed to establish diplomatic relations in the wake of signing a US-brokered agreement in September. The two countries had long harboured close, clandestine security cooperation over a shared enmity of regional rival Iran.
The US says Sudan is also taking steps to start normalising relations with Israel.
Palestinians have criticised the agreements as a betrayal that erodes longstanding consensus in the Arab world that relations with Israel should only come after the establishment of an independent Palestinian state.
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