The final vote count was 54-46.
"This war is both a humanitarian and a strategic disaster, and Congress has the opportunity to end it", Sen.
"This is historic. For the first time in 45 years, Congress is one step closer to withdrawing US forces from an unauthorized war", Sanders (I-Vt.), said.
McConnell argued that the Yemen resolution would "not enhance America's diplomatic leverage" and would make it more hard for the U.S.to help end the conflict in Yemen and minimize civilian casualties.
"Millions of grassroots activists, who helped make this vote a reality, want their lawmakers to end this unconscionable war", Kate Gould, legislative director for Middle East policy at the Friends Committee on National Legislation, said. He also said the resolution "sets a bad precedent" because the United States is not directly involved in Yemen. The Trump administration has been providing Yemen with intelligence and other support. Earlier this week, dozens of civilians-including women and young children-were killed by Saudi airstrikes in Yemen's Kushar district.
The United States provides weapons and refueling to the Saudi coalition.
Sen. Mitt Romney voted against the resolution.
"The bottom line is the United States should not be supporting a catastrophic war led by a despotic regime with a risky and irresponsible foreign policy".
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"Today, we begin the process of reclaiming our constitutional power by ending USA involvement in a war that has not been authorized by Congress and is clearly unconstitutional", said independent Senator Bernie Sanders of Vermont, sponsor of the measure.
He added that a vote in favor would "begin the process of reclaiming our constitutional authority by ending United States involvement in a war that has not been authorized by Congress and is unconstitutional".
The resolution would not curtail USA special forces involved in fighting al Qaeda or allied terrorist groups - a mission that Congress explicitly authorized in 2001.
"The Senate's vote to end the USA role in Yemen is also a vote to re-democratize our nation's foreign policy".
Backers of the resolution, including a handful of Trump's fellow Republicans as well as Democrats, argued that US involvement in Yemen violates the constitutional requirement that Congress, not the president, should determine when the country goes to war.
Independent Senator Bernie Sanders, Republican Mike Lee and Democrat Chris Murphy led the fight to pass the resolution, in the first time Congress has tried to block a president on war.
Mr Trump has vowed to veto the resolution should it pass through the Democrat-led Congress.
Romney said while he has concerns about Saudi Arabia's recent behavior, particularly the murder of Khashoggi, ending support would undermine US allies and security interests in the region by emboldening Iran, hampering counterterrorism efforts, and potentially worsening the humanitarian crisis.