Cyril Ramaphosa was elected as the new President of South Africa on Thursday hours after embattled leader Jacob Zuma resigned, ending weeks-long power struggle in the ruling African National Congress (ANC).
Ramaphosa was nominated as a candidate by ANC backbencher Patrick Maesela, and the nomination was seconded by his colleague Joan Fubbs.
None of the opposition parties nominated a candidate.
Members of the opposition Economic Freedom Fighters party walked out of the chamber in protest during the debate, reported CNN.
The 65-year-old has focused on cracking down on corruption and improving the economic.
"South Africa has just emerged from a historic and challenging time," said Baleka Mbete, the parliamentary speaker. "Our democracy has matured and remains resilient."
In a televised address on Wednesday night to South Africa, Jacob Zuma announced his resignation ahead of Thursday's no-confidence votes.
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"I have therefore come to the decision to resign as president of the republic with immediate effect even though I disagree with the decision of the leadership of my organisation ... I have always been a disciplined member of the organisation," local media quoted Zuma as saying.
Zuma further noted that he was not afraid to leave office as he did not fear the no-confidence motion.
"I fear no motion of no confidence or impeachment for they are the lawful mechanisms for the people of this beautiful country to remove their president," he said.
Zuma, had led the ANC since 2007 and has been South Africa's president since 2009.
The scandal-hit South African leader, faces more than 780 allegations of corruption relating to a 1990s arms deal.
The South African media have been calling President Zuma's inevitable exit as "Zexit".