"We are supporting our Eastern partners, strengthening their economies and their institutions, their resilience and in just a few days we will announce a visa liberalization agreement with our Ukrainian friends," Mogherini said.
Mogherini vowed to continue working to bring the conflict in eastern Ukraine to an end on the basis of full implementation of the Minsk agreements.
The UN Security Council is holding a meeting on UN-EU cooperation in maintaining international peace and security.
Ukraine's visa exemption was supported by 521 votes, opposed by 75 members of parliament, while 36 abstained. The legislation is now to undergo the formal adoption by the Council of Ministers, after which it is likely to enter into force on June 20, days after it is published in the EU Official Journal.