Brazil's President Dilma Rousseff has said she is "outraged" by a vote in Congress to authorise impeachment proceedings against her and vowed to keep fighting.

In an emotional first public response to yesterday’s vote, Ms Rousseff said she would not give up now that her case has gone from the lower house to the Senate for a possible trial.

"I have strength, spirit and courage. I will not be beaten, I will not be paralyzed. I will continue to fight and I will fight as I did all my life," Ms Rousseff said in the remarks carried live on television.

The lower house voted overwhelmingly to send Ms Rousseff to the Senate for trial on allegations that she illegally manipulated government accounts during her 2014 re-election to mask the scale of budget holes.

But Ms Rousseff said deputies in the house had failed to provide any evidence that she had committed an impeachable crime, calling the process instead a "coup d'etat."

The vote was "violence in Brazil against truth, against democracy and against the democratic rule of law," she said.

The Senate is due to vote in May on whether to open a trial at which point Ms Rousseff would be suspended.

The trial could take months and if senators then voted by a two thirds majority she would be deposed.

Her vice president, Michel Temer, would take over.

Ms Rousseff branded Mr Temer a "traitor" in her remarks, saying he had conspired against her.

The impeachment battle, waged during Brazil's worst recession since the 1930s, has divided the country of 200 million people more deeply than at any time since the end of its military dictatorship in 1985.

It has also sparked a bitter battle between Ms Rousseff, a 68-year-old former Communist guerrilla, and Mr Temer, 75, that could destabilise any future government and plunge Brazil into months of uncertainty.

Despite anger at rising unemployment, Ms Rousseff's Workers Party can still rely on support among millions of working-class Brazilians, who credit its welfare programs with pulling their families out of poverty during the past decade.

Celebrations erupted on Sunday night as deputies delivered a crushing blow to Ms Rousseff. The floor of the lower house was a sea of Brazilian flags and pumping fists as dozens of lawmakers carried in their arms the deputy who cast the decisive 342nd vote, after three days of a marathon debate.

Fireworks lit up the night sky in Brazil's megacities of Sao Paulo and Rio de Janeiro after the vote.

The final tally was 367 votes cast in favour of impeachment, versus 137 against, and seven abstentions. Two lawmakers did not show up to vote.