The controversial Government plans were approved by 397 votes to 223 - a majority of 174.
Sky sources say 67 Labour MPs backed airstrikes, including deputy leader Tom Watson, while seven Tories rebelled in opposition to action.
Foreign Secretary Philip Hammond said: "Britain is safer tonight because of the decision the House of Commons has taken."
But the Labour leader Jeremy Corbyn was said to be "disappointed" at the defeat.
Anti-war protesters who had been demonstrating outside Westminster booed after hearing the outcome of the vote.
A cross-party bid to block UK airstrikes in Syria was also rejected by 390 votes to 211 - a majority of 179.
The votes followed a highly charged Commons debate lasting more than 10 hours, in which the Prime Minister stressed the threat posed by the extremists, whom he branded "woman-raping, Muslim-murdering, medieval monsters".
However, Mr Corbyn warned against an "ill-thought-out rush to war".
Critics of the Government's plan challenged claims that 70,000 moderate fighters would be able to take on IS.
The most impassioned speech of the day was made by shadow foreign secretary Hilary Benn, who in a highly unusual move closed the debate for Labour with a speech in support of military intervention.
He was among a number of senior Labour figures to defy the Labour leader and speak in favour of airstrikes.
Mr Corbyn had been forced to give his MPs a free vote amid splits within his frontbench team and the threat of resignations.
Mr Benn was applauded from both sides of the Commons chamber for his speech.
He said: "We must now confront this evil. It is now time for us to do our bit in Syria."
Mr Hammond said: "We are very pleased that a significant number of Labour MPs have voted with the Government tonight so we have got a clear majority across the House of Commons in support of the action that we are now going to be taking to degrade this evil terrorist organisation."
David Cameron said: "I believe the House has taken the right decision to keep the UK safe - military action in Syria as one part of a broader strategy."
Labour shadow cabinet member Diane Abbott said a majority of MPs had backed Mr Corbyn.
"He will be proved to be right," she said, but insisted there would be no recriminations.
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