Immediately after the certification, the White House released a statement from Trump in which he pledged an "orderly transition" on Jan. 20 when Biden will be sworn into office.
Congress had resumed its work certifying Biden's Electoral College win late on Wednesday after the chaotic scenes on Capitol Hill, with debate stretching into the early hours of Thursday.
After debate the Senate and the House of Representatives rejected two objections to the tally and certified the final Electoral College vote with Biden receiving 306 votes and Trump 232 votes.
Vice President Mike Pence, in declaring the final vote totals behind Biden's victory, said this "shall be deemed a sufficient declaration of the persons elected president and vice president of the United States."
Vice President-elect Kamala Harris will take office alongside Biden on Jan. 20.