The senators voted 51-47 on the resolution, which was introduced by Democratic Sen. Tim Kaine, Anadolu Agency reported.
US President Donald Trump has repeatedly said that Cuba is "next" after the military aggression against Iran and that the Caribbean island nation will fail soon.
Ahead of the voting, Kaine said on the Senate floor that Trump’s war against Iran has been a "disaster."
"Now, he wants a new war with Cuba. My colleagues and I are firm: no new, unnecessary wars," he said.