WASHINGTON — The Senate voted on Wednesday to take up a $1 trillion bipartisan infrastructure bill that would make far-reaching investments in the nation’s public works system, as Republicans joined Democrats in clearing the way for action on a crucial piece of President Biden’s agenda.

The 67-to-32 vote, which included 17 Republicans in favor, came just hours after centrist senators in both parties and the White House reached a long-sought compromise on the bill, which would provide about $550 billion in new federal money for roads, bridges, rail, transit, water and other physical infrastructure programs.

Among those in support of moving forward was Senator Mitch McConnell of Kentucky, the Republican leader and a longtime foil of major legislation pushed by Democratic presidents. Mr. McConnell’s backing signaled that his party was — at least for now — open to teaming with Democrats to enact the plan.

The deal still faces several obstacles to becoming law, including being turned into formal legislative text and clearing final votes in the closely divided Senate and House. But the vote was a victory for a president who has long promised to break through the partisan gridlock gripping Congress and accomplish big things supported by members of both political parties.