The opposition tabled the motion as thousands of Ukrainian demonstrators maintained their protest outside parliament in Kiev.
Earlier, Prime Minister Mykola Azarov apologised in parliament for the use of police force against protesters.
Mass protests were sparked by the government's decision not to sign an association deal with the EU last week.
The motion of no-confidence in Mr Azarov's government received 186 votes from the main opposition parties, but fell short of the 226 votes required for approval.
Before parliament voted on the motion, Mr Azarov addressed an emergency session of parliament.
"On behalf of our government, I would like to apologise for the actions of our law enforcement authorities on Maidan [Independence Square]," he said, referring to violence at the weekend.
He added that anybody guilty of excessive force would be punished, and called for protests outside the government buildings in Kiev to end.
On Monday, Mr Azarov had said he saw "all the signs of a coup" as protests intensified.
He said the government was aware of plans to seize the parliament building.