The impeachment article will head to the Senate, which will hold a trial to determine the President’s guilt.
A two-thirds majority is needed to convict Mr Trump, meaning at least 17 Republicans would have to vote with Democrats in the evenly split, 100-seat upper chamber.
As many as 20 Senate Republicans are open to convicting the President, the New York Times reported on Tuesday.
If Mr Trump is convicted by the Senate, lawmakers could hold another vote to block him from running for elected office again - which he has indicated he planned to do in 2024.
But the trial will not come during Mr Trump’s remaining week in office.
Republican Senate leader Mitch McConnell said in a statement: “Given the rules, procedures, and Senate precedents that govern Presidential impeachment trials, there is simply no chance that a fair or serious trial could conclude before President-elect Biden is sworn in next week.”
He said it would best serve the interests of the nation if Congress focused on a safe and orderly transition of power for the incoming Biden administration.
Mr McConnell also said in a note to colleagues that he had not made a final decision on how he would vote.
Mindful that his first days in office could become mired in the impeachment drama, Mr Biden said he hoped senators would not neglect the “other urgent business of this nation”, such as approving his cabinet nominees, coronavirus relief and the nationwide vaccination programme.
However, a Republican congresswoman, Marjorie Taylor Greene of Georgia, announced she would file articles of impeachment against Mr Biden, accusing him of abuse of power, the day after his inauguration.
No US President has ever been removed from office through impeachment. Mr Trump was impeached by the House in 2019 over his dealings in Ukraine, but acquitted by the Senate. So was Bill Clinton in 1998 and Andrew Johnson in 1868.
– BBC