According to the public service broadcaster ERR, 51-year-old lawyer Madise has been the country's Chancellor of Justice for just over a decade and ran as an independent, apolitical candidate.
"I hope that together we can do a lot for Estonia so that life (here) becomes happy, good and safe," she said after the vote, where 71 out of 78 lawmakers voted for her.
Madise will be officially sworn in on October 12. She will then become the country's seventh president, and the second woman after Kersti Kaljulaid, president 2016-21.
The role is mainly ceremonial, but the president signs all new laws and can veto new legislation.
