With 93 votes in favour, from Fianna Fáil, Fine Gael, the Greens and 9 Independents.
Independent TDs Peter Fitzpartick, Cathal Berry, Noel Grealish, Michael Lowry, Matt Shanahan, Richard O'Donoghue, Michael McNamara, Marian Harkin and Verona Murphy voted for the deal.
TDs Denis Naughten, Mattie McGrath and Carol Nolan abstained.
In a moment that ends civil war politics in Ireland Fine Gael and Green Party TDs voted with Fianna Fáil to elect a new government.
The Taoiseach elect will then travel to Áras an Uachtaráin to be given his seal of office this afternoon.
Applause in the Dáil chamber as Micheál Martin is elected Taoiseach pic.twitter.com/ZYV7rna2Fr
— Seán Defoe (@SeanDefoe) June 27, 2020
Due to COVID restrictions, most of Micheál Martin's family were not at the Convention Centre to see him elected as Taoiseach. The only member of Micheál Martin's family present is his niece, who is based in Dublin.