More than two-thirds of the UN agency's 160 member states backed the resolution suspending Russia's membership with immediate effect on Wednesday.
"The message is clear: Actions will always have consequences," the agency's Secretary-General Zurab Pololikashvili tweeted after the ballot.
He added: "Peace is a fundamental human right. Guaranteed to all. Without exception."
Spanish Tourism Minister Reyes Maroto, who presided over the special session of the Madrid-based body, said that Russia's invasion "injures the founding principles of the United Nations and the values represented by tourism, such as peace, prosperity and universal respect," the Reuters news agency reported.
Earlier this month, the United Nations General Assembly suspended Russia from the UN Human Rights Council amid reports of "gross and systematic violations and abuses of human rights" in Ukraine.
Poland's UN Ambassador Krzysztof Szczerski said at the time that "a country that deliberately kills civilians on a massive scale cannot be an active member of the Human Rights Council, the most important body in the UN system, mandated to protect and respect human rights globally."
On March 24, the 193-member UN General Assembly overwhelmingly voted to demand aid access and civilian protection in Ukraine, amid a humanitarian crisis created by Russia's invasion of the country.
On March 2, the assembly voted to reprimand Russia for invading Poland's eastern neighbour and demanded that Moscow stop fighting and withdraw its forces from Ukraine.
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Source: PAP, Reuters