The motion was brought forward by Greens MP Jeremy Buckingham, who was responding to Trump's 2005 comments, revealed last week, about preying on women.
"I move that this house condemns the misogynistic, hateful comments made by ... Mr Donald Trump, about women and minorities, including the remarks revealed over the weekend that clearly describe sexual assault ... and agrees with those who have described Mr Trump as 'a revolting slug' unfit for public office," the motion read.
The upper house of parliament, which contains an array of far-right conservative and Christian politicians, passed the motion unanimously.
Buckingham told BuzzFeed News he brought the parliamentary motion because he considers Trump "frighteningly immoral" and a "danger to the entire world".
"His comments and subsequent obfuscation are frighteningly immoral, especially from someone who may be US president. ... He's a danger to the entire world," the Greens MP said.
"Is this the person anyone wants with the nuclear codes, setting direction on climate policy?"
The motion comes as more women come forward with stories of Donald Trump making unwanted sexual advances towards them.