Independent senator Lidia Thorpe has been suspended from parliament after she threw pieces of paper at Pauline Hanson in the upper house as a row over racism erupted.
Labor Senate leader Penny Wong moved the motion to oust Senator Thorpe until the end of Thursday, passing 46 votes to 11.
The government, coalition, Senator Hanson, David Pocock and Ralph Babet voted in favour of the motion.
Only the Greens stood against it and, while Senator Thorpe's staff attended the vote, she did not.
Senator Hanson said everyone had the right to feel safe at work and to not be intimidated or threatened.
"I hope this does send a clear message to Senator Thorpe," she said.
"She's been given the opportunity to hold a very special place in this parliament, and to act on behalf of all Australians who want clear, decisive representation with equality, not about race."
Senator Thorpe's staff walked out of the chamber as Senator Hanson rose to speak.
Senator Wong said debate in the parliament had turned to "aggression, hateful and personal attacks" that could not be tolerated in the workplace.
"There have been dozens of instances, including multiple instances of Senator Thorpe, making inappropriate, sometimes abusive comments towards other senators," she said.
"Despite attempts to work with Senator Thorpe, she's increasingly engaged in such behaviour in this Senate."
Coalition Senate leader Simon Birmingham described the motion as a "line in the sand" after the Victorian senator had "crossed a line" earlier.
He said it was "beyond disappointing" the Greens had voted it down, accusing them of a "shameful double standard".
Defending the decision taken by the Greens, Senate leader Larissa Waters said the party did not think denying her from a day of voting was an "appropriate and proportionate response".
"A number of our senators feel unsafe due to the conduct of Senator Thorpe. And a number of senators in this place feel unsafe due to the conduct of Senator Hanson," she said.
There is one scheduled day of sittings left on Thursday, before parliament is expected to return in February.
The One Nation leader attempted to refer former Labor senator Fatima Payman to a parliamentary committee over her dual Afghan citizenship, questioning her eligibility to sit in the upper house.
Senator Thorpe backed Senator Payman, yelling "convicted racist" at Senator Hanson as she threw torn-up documents at her.
Senator Thorpe gave the middle finger over her shoulder as she walked out of the chamber.
Under Section 44 of the constitution, dual citizens are not allowed to sit in parliament.
Senator Payman has made previous representations to renounce her Afghan citizenship, but cannot because of the Taliban's takeover.
Senator Thorpe was censured by the upper house over her publicised protest against King Charles during the monarch's visit to Parliament House in October.
Censure motions do not have any legal consequences but they are rare and give parliamentarians the chance to formally express their disapproval of colleagues.
