The Social Democrats' Reproductive Rights (Amendment) Bill has been defeated in the Dáil by 85 votes to 30.
There were 36 abstentions. Government TDs had a free vote on the issue.
Minister for Health Jennifer Carroll MacNeill rejected the bill.
Sinn Féin, Independent Ireland and Independent TDs had intimated opposition to what was brought forward.
The Green Party, People Before Profit and the Labour Party supported the legislation.
Earlier today, Social Democrats leader Holly Cairns said the promise of repeal the 8th has not been realised.
She told the Dáil that many women who receive fatal foetal abnormality diagnoses still have to travel to the UK for an abortion. She said women deserve compassionate, timely, evidence-based healthcare.
The Social Democrats' bill would have abolished the three-day waiting period for an abortion, revised the criteria for a termination on the grounds of fatal foetal abnormality, and removed the criminal sanctions found in the current laws.
Ms Cairns said the law only permitted a termination where the condition is likely to lead to the death of the foetus before birth or within 28 days of birth.
"Doctors, families and advocacy groups have repeatedly told us this threshold is too narrow and too rigid. Doctors are being placed in impossible positions and women are still travelling as a result," she said.
"The mandatory three-day waiting period is another example of a barrier that exists not because of medicine but because of politics and once again, it is women who pay the price."
Bill raised significant legal and operational concerns - minister
The Government noted the bill at Cabinet yesterday and agreed to a free second-stage Dáil vote as it was a conscience matter, however Minister Carroll MacNeill said it had raised significant legal and operational concerns.
Of these, she said, the amendments to the three-day waiting period were the least difficult.
She told the Dáil that the reduction of the number of doctors making the decision was problematic and would create an uncertainty that, she said, would be unhelpful.
She said the dual professional signatory was a fundamental principle of safety and widely practised in healthcare.
The minister said she was aware of the tragic outcomes that had already occurred where core principles of safety had not been adhered to.
On fatal foetal abnormality, she said it was extremely complex and raised many ethical issues.
She said she empathised with what the bill was trying to achieve, but said the 28-day clause was not chosen at random.
She said it was chosen because it was related medically to the period where an infant is most at risk and beyond that was very complicated.
The bill was largely based on the recommendations of the O'Shea review of the Health Regulation of Termination of Pregnancy Act.
SF supports removing three-day wait
Speaking before the vote, Sinn Féin Spokesperson on Health David Cullinane said that his party supports removing the three-day wait, never supported it in the first place and had already tabled legislation to remove it.
However, he said, Sinn Féin had concerns around the new definition of a condition likely to lead to the death of a foetus, which he said was not grounded in the recommendations of the review of the act and ignored the intention of a clear and tight definition.
He said it also has concerns about proposals to decriminalise practitioners who knowingly and wilfully act illegally beyond the scope of the Act.
Mr Cullinane said it was astounding that a bill was being considered which went "far beyond" the recommendations of the review disrupting the consensus-based approach which brought about repeal.
He said it would rip up many of the safeguards which were presented to the people in order to convince them to repeal the Eighth Amendment.
Critical Infrastructure Bill passes
The Governments Critical Infrastructure Bill has been passed by the Dáil by 132 votes to 15.
The bill allows the Government to designate specific infrastructure projects as critical infrastructure to speed up delivery.
Designation will require all public bodies in the infrastructure approvals process to prioritise those designated projects and to cooperate and coordinate with each other.
Projects will be designated as critical infrastructure by order laid before Dáil Éireann.
The bill creates a fast-track channel through existing processes for designated critical infrastructure to make sure this infrastructure is accelerated to the maximum degree possible.
It now goes to the Seanad for consideration.
Additional reporting: Joe Mag Raollaigh
