It’s part of a multi-party plan to force the Liberals from office.
The motion was largely a formality, and a last opportunity for Mr Martin to compromise on an election date, to avoid a no-confidence motion promised by opposition leaders for November 28.
Mr Martin had already rejected the offer and pledged to ignore the vote outcome.
But the three opposition parties passed the motion 167 to 129 regardless.
The Liberals have only 133 of the 308 seats in the House of Commons.
They had managed to hold onto power by making a deal with the New Democratic Party (NDP), which has 18 seats, and with the support of a handful of independent members of Parliament.
Mr Martin had pledged to hold an election 30 days after the release of a final report on a government funding scandal involving the previous Liberal government, that’s expected in February.
It’s alleged millions of dollars were given to Liberal- friendly advertising firms and kickbacks were paid to the Liberal Party.
The NDP withdrew its crucial support soon after the release of a damning preliminary report on the scandal.
A no-confidence motion would now be tabled on Thursday and a vote to oust the Liberals would be held on November 28.
The election would be held 30 days after it is called.