The resolution had been passed by a UNESCO commission on Tuesday, sparking anger in Israel.
The text, approved at UNESCO headquarters, denounces "all legislative and administrative measures and actions taken by Israel, the occupying power, which have altered or purport to alter the character and status of the Holy City of Jerusalem."
It said such moves were "null and void and must be rescinded forthwith".
The resolution had been passed on Tuesday by 22 votes to 10, with 23 abstentions.
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It drew the ire of Israeli Prime Minister Benjamin Netanyahu, who responded this week by cutting his country's UN funding by $1 million.
Saying the resolution denies Jews' historical connection with Jerusalem, Netanyahu called the move "absurd" and said "this systemic harassment has a price."
It was the third time in recent months Israel reduced its UN budget over what it considers anti-Israel votes, putting the 2017 payments at $3.7 million instead of the original $11 million, an Israeli official said.
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