The budget was approved by a large majority of 682 MEPs, including the conservatives and the socialists. The Greens and the radical left voted against.
Known as the Multi-annual Financial Framework (MFF), it provides for 908 billion euros in payments against 960 billion euros in funding commitments, 3.7 per cent and 3.5 per cent less than in the previous 2007-2013 budget.
The last step for the European Union's seven-year blueprint, which sets out the 28-nation bloc's spending priorities according to its economic and political aims, will be formal approval in the next days by EU states.
European Parliament President Martin Schulz, a German Socialist, welcomed the vote, saying it would allow EU funds to flow on time from January 1.
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"It means much needed EU funds can be invested into programmes ranging from combatting youth unemployment, support for less-well off regions in the EU via the structural funds, to much needed funding in research and development and support for agriculture."
MEPs voted 537 in favour, 126 against and with 19 abstentions.