Of the 193 members of the UN General Assembly, 93 voted in favor of suspension, 24 voted against and 58 abstained.
Rytis Paulauskas, Lithuania's permanent representative to the UN, welcomed the adoption of the resolution.
"With this step, we, the international community, honorably follow our words with actions, as we continue to stand together in defense of the international war, peace and security, the Charter of the United Nations, human rights – and of the humanity itself," Paulauskas said in a statement he read out on behalf of all three Baltic countries.
"We thus preserve the moral integrity of this UN body, together confirming that gross and systematic violations and abuses of human rights, committed by Russia in Ukraine, will not be left unanswered," the ambassador said.
"There is no place for the aggressor state in the UN body whose mission is to promote and protect human rights around the world," he added.