A total of 241 lawmakers voted in favor of the motion -- a first in the country's history -- while 10 voted against.
The motion was signed Sunday by 223 members of parliament from the ruling coalition of Social Democratic Party (PSD) and Alliance of Liberals and Democrats (ALDE), which withdrew support from the premier last week.
Grindeanu has only been in office six months. He was accused of failing to implement PSD policies and had lost the confidence of lawmakers, PSD leader Liviu Dragnea said last Wednesday.
Romanian President Klaus Iohannis will meet with party leaders on June 26 for the formation of a new government.