A majority of 153 lawmakers supported the legislation, while 140 voted against.
"I'd like to welcome North Macedonia, a country friendly to Greece, a country that must be an ally in efforts to establish security, stability and peace in the region.
"History will judge us. I feel we have carried out our patriotic duty," Tsipras said.
The ratification was part of a deal signed in June to change Macedonia's name to the Republic of North Macedonia, and lift Greek objections to its EU and NATO membership bids.
Tsipras on Friday said the deal had "upgraded" Greece's international standing.
Skopje must adopt the new name "in the public discourse, in addition to all street signs and official documents," he added.
In ancient times it was the cradle of Alexander the Great's empire, a source of intense pride for Greeks.
NATO and the EU believe Macedonia's membership will enhance stability in the Balkans, while the alliance's expansion into the region has been opposed by Russia.
(This story has not been edited by Business Standard staff and is auto-generated from a syndicated feed.)