Thursday's vote also allows foreign soldiers to be stationed in Turkey and to use its military bases for the same purposes.
Al Jazeera's Bernard Smith, reporting from Urfa in southern Turkey, said the legislation allows Ankara to go after any terrorist threat, not just ISIL.
"The legislation spoke of the threat posed by the Assad regime, a destabilised Syria, the Kurds, and finally ISIL."
The motion, put forward by the ruling AK Party, passed with 298 votes in favour and 98 against.
Turkey has come under pressure to play a more robust role in the US-led military campaign against ISIL after the group advanced to within clear sight of Turkish military positions on the Syrian border.
Ankara had previously refused to join a broad US-led coalition while dozens of its citizens, were being held by ISIL after being abducted from the Turkish consulate in the northern Iraqi city of Mosul. The Turks were released earlier this month.
Turkey shares a porous 900km border with Syria, and has seen the conflict frequently spill across its frontier and has responded in kind when mortars and shells fired from Syria have hit its soil, in some cases killing Turkish civilians.
Source: Al Jazeera and agencies
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