MPs have voted in favour of the Assisted Dying Bill after an impassioned debate in Parliament.
The bill was passed with 314 votes in favour and 291 against - a majority of 23.
The majority is smaller than that of a vote in November which was passed with 55 votes.
The legislation will allow terminally ill adults in England and Wales with fewer than six months to live to apply for an assisted death.
This is subject to approval by two doctors and a panel featuring a social worker, senior legal figure and psychiatrist.
MPs were given a free vote on the bill, allowing them to decide according to their conscience rather than along party lines.
Some MPs were visibly emotional as they left the chamber after the bill was passed.
Others lined up to shake hands with Kim Leadbeater, the bill's sponsor through the Commons.
A new YouGov poll of 2,003 adults in the UK suggested public support for the bill is at 73%.
Dame Esther Rantzen said MPs backing the assisted dying Bill would make a “huge positive difference” and protect terminally ill people from a “bad death”.
Dame Esther, a notable supporter of campaign Dignity in Dying who has stage four lung cancer, said: “This will make a huge positive difference, protecting millions of terminally ill patients and their families from the agony and loss of dignity created by a bad death.
“Thank you, Parliament.”
Some 14 MPs switched from voting in favour to against, while only one MP – Labour’s Jack Abbott – switched from voting no to voting yes.
The proposed legislation will now move to the House of Lords for further debate and votes, although one peer has already urged her colleagues they “must oppose a law that puts the vulnerable at risk”.
Ms Leadbeater said the vote result was one that “so many people need”, insisting her Bill has enough safeguards and will “give dying people choice”.
Asked about the narrower gap between supporters and opponents, Ms Leadbeater said she knew there would be “some movement both ways” but insisted the vote showed a “convincing majority”.
She told reporters: “The will of the House (of Commons) will now be respected by the Lords, and the Bill will go through to its next stage.”
Acknowledging those who remain opposed to the Bill, she said she is “happy to work with them to provide any reassurance or if they’ve got any questions about the Bill that they want to talk through with me, my door has always been open and remains open”.
Conservative MP Danny Kruger, who opposes the Bill, said support “is ebbing away very fast”, telling of his disappointment the Bill passed but adding: “The fact is, their majority’s been cut in half.”
Campaigners wept, jumped and hugged each other outside Parliament as the vote result was announced.
Labour MPs who voted against the bill urged peers to give the legislation "the scrutiny that it needs".
The group of 27 MPs said it was "disappointing that many of our colleagues have not listened to the experts and organisations representing the vulnerable who demonstrated that this bill will not work".
