The measure supports the reinstatement of the Public Safety and Recreational Firearms Use Protection Act that expired in 2004.
California Sen. Diane Feinstein sponsored the law, which was approved by congress and signed into law by President Clinton in 1994.
Feinstein has been outspoken in support of restoring the ban of semi-automatic weapons classified as assault weapons for civilian use.
The resolution came before City Hall on the request of Brady Campaign President Susan Moore.
Healdsburg is Sonoma County's seventh city to support the ban.
Councilman Gary Plass was the lone dissenting vote. He said he wasn't opposed to the ban itself, but objected to the local government body taking action on a national issue, the Santa Rosa Press Democrat reports.
“We were hired to keep the water running and the sewer going and that's what we should do,' Plass said, according to the report. “It does not belong on this dais.”
Summing up the opinion of the majority, Mayor Susan Jones said that measure sends an important message.
Jones has a law enforcement background that includes nine years as chief of the Healdsburg Police Department.
She said congress takes its cues from local governments according to the report.
“It needs to come from the bottom up,” she said.
The council also voted by a 4-1 margin in support of a state bill requiring background checks for ammunition purchases.
The measure, SB-53, is sponsored by State Sen. Kevin De Leon (D-Los Angeles).
Plass was the lone dissenting vote.