The House of Representatives passed the bill to change the definition of marriage from exclusively between a man and a man to "a union of two people".
When the results of the vote in favour of the Bill were announced, the House and public galleries were full of cheers, shouts, applause, hugs, kisses and general jubilation, reported the BBC.
The legislation will become law as soon as it is granted royal assent by the Governor-General.
All amendments were struck down and the bill has passed unchanged from the one that cleared the Senate last week.
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In the end, only four people did not support the bill.
"What a day for love, for equality and respect", Mr Turnbull said.
The Marriage Amendment (Definition and Religious Freedoms) Bill 2017 was voted xx to xx in favor of legalizing marriage equality.
The Australian people voted in favour of change by 61.6 per cent, triggering Prime Minister Malcolm Turnbull's promise to change the Marriage Act by Christmas.
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"This is a day for every Australian".
The government has appointed a panel to examine how to safeguard religious freedoms once gay marriage was a reality in Australia.
The only potential obstacle to the law passing on Thursday would be if marriage equality opponents managed to amend the legislation.
Amendments made by conservatives to the cross-party same-sex marriage bill are said to be defeated with leader of the house, Christopher Pyne, stating he will oppose them.
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Same-sex marriage supporters wearing colourful "Yes" T-shirts clapped and cheered as amendments were voted down, prompting repeated warnings they should stop their barracking. On Thursday night, Queensland MP Bob Katter, who went viral for his dismissal of gay marriage in light of fatal crocodile attacks, delivered a 15-minute speech declaring that same-sex marriage was not of interest of gay couples because heterosexual couples weren't getting married either.