The motion passed by four votes in the Spanish parliament on Friday, amid a corruption scandal that has plagued Rajoy's People's Party.
The 46-year-old Mr Sanchez is Spain's seventh prime minister since the return to democracy following the death of dictator General Francisco Franco in 1975.
The Spanish parliament's lower house is debating whether to end Prime Minister Mariano Rajoy's almost eight years in power and replace him with the leader of the Socialist opposition.
"Today, finally, we are sending the Popular Party home", said Podemos leader Pablo Iglesias, who called for Sanchez to implement an ambitious social agenda and to undo years of austerity measures by the conservatives.
Mr Rajoy made brief farewell remarks to MPs before the vote, telling them: "It has been a honour to leave Spain better than I found it".
By moving into La Moncloa palace, the seat of government in Madrid, Mr Sanchez will recover the spotlight that he had been sorely missing since leaving parliament.
He shook hands with Sanchez, who was then embraced by his Socialist deputies beaming with delight at a political coup that looked impossible just a few days previously.
Sanchez, however, insisted that any solutions for Catalonia must fit within Spain's Constitution, which calls the nation "indivisible" and says national sovereignty resides in the Madrid-based parliament.
In order to be approved, the motion of no-confidence presented by Sanchez needed to exceed the absolute majority of the lower house (176 seats).
The support of leftist and nationalist parties for ousting Rajoy won't necessarily lead to parliamentary backing for Sanchez's government and could produce a political stalemate.
Referring to Mariano Rajoy's outgoing government, Rivera told reporters on Friday that "we had to censure this government, but not in this way".
The key is in the hands of the Basque Nationalist Party, or PNV, which chose to back Sanchez with its five lawmakers in the national parliament after the Socialist leader vowed to keep the hefty benefits that the Basques obtained in the recent negotiations of the 2018 national budget.
Rajoy's departure would trigger a second political crisis in southern Europe, further unnerving financial markets already wrongfooted by failed attempts to form a government in Italy three months after a national election.
Once he negotiated the support of several smaller parties, including Basque and Catalan nationalist groups, he had momentum for the no-confidence vote. Dozens of people tied to his party have been sentenced to years in prison.
Mariano Rajoy waves during a lunch break in a motion of no confidence debate at Parliament in Madrid, Spain, May 31, 2018.
Also, the centre-right Ciudadanos (Citizens) party - which has been leading recent opinion polls - is demanding a snap election and is vowing fierce opposition to Sanchez.
"He has sent (Prime Minister Pedro Sanchez) a congratulatory letter stating his confidence in the Spanish government to continue to contribute in a constructive manner to a stronger, more united and fairer European Union", a spokeswoman for the Commision said.
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The ceremony was expectedly emotional in the wake of the shool's tragic shooting in February where 17 people were slain. But they are also doing the things that high school students normally do: graduate high school.
WatchOS 5 doesn't include any groundbreaking features but there are lots of useful updates for Apple's wearable devices. That means if someone sends you a link in an iMessage you'll be able to see a small preview of how it appears online.
The volcano exploded Sunday, sending ash high into the sky and lava flows cascading into rural hamlets on the mountain's slopes. Almost 3,100 people have been evacuated from the affected area, the country's disaster management agency said.
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The following year, he pleaded guilty to threatening to kill a president and served 16 months in federal prison. Before seeking a congressional seat, Larson ran for the Virginia House of Delegates as an independent.
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Trump on Friday put the historic summit back on for June 12 following weeks of uncertainty over whether it would take place. According to the Seattle Times , North Korean officials have peculiar demands when their delegation travels overseas .
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No matter what edition of Read Dead Redemption 2 you preorder, you'll get both of the Story Mode bonuses that are detailed below. The $99.99 Ultimate Edition includes all the same pre-order promotions, only with GTA$2,000,000 for Grand Theft Auto Online .
The jersey was rated as the best World Cup jersey in a poll conducted by Sky Sports and has been well received by non-Nigerians. Nigeria will also play in London this week as they face England in a friendly at Wembley as part of World Cup preparations.
SpaceX's next launch is a cargo resupply mission to the International Space Station, set for the end of the month. SES-12, a communication satellite today roared into space from Cape Canavera on-board SpaceX Falcon 9 rocket .
If Trump does not consent to an interview, Mueller will have to decide whether to go forward with a historic grand jury subpoena. He admitted "the political ramifications of that would be tough". "In no case can he be subpoenaed or indicted", said Giuliani.
For the upcoming " Mission Impossible: Fallout " he already injured himself while jumping from one high rise building to another. In the latest entry in the blockbuster series the Hollywood actor, 55, takes part in a death-defying HALO jump stunt.
The pet's owners alleged that a flight attendant knew a dog was in the carrier when she told them to put it in the overhead bin. A family is searching for answers after its dog was found dead on a Delta Air Lines flight layover at Detroit Metro Airport.