The vote effectively extended the law, which had expired, for another six months.
The law allows the city to issue citations to people sleeping in their cars, vans or RVs in residential areas and schools between the hours of 9 p.m. to 6 a.m.
According to the Los Angeles Homelessness Services Authority, there are about 16,500 people living in their cars in Los Angeles County.
Advocates for the homeless population have long criticized the law, arguing that it criminalizes the homelessness.
Tuesday's vote at City Hall was met with an angry reaction from those in attendance, who chanted "Shame on you!"
Proponents of the law believe it is necessary to keep their streets free from homeless encampments.
Councilman Joe Buscaino told Eyewitness News the big issue is safe parking.
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"We have to keep in mind that there are property owners who are freaking out when you have people living in their cars in front of their homes," said Buscaino.