There was no discussion before the supervisors voted to send the measure to Mayor Ed Lee for his signature, the San Francisco Chronicle reported Wednesday.
The legislation exempts nudity at private beaches, on private property and at special events when permits have been obtained. It doesn't apply to children under the age of 5.
Violators can be fined $100 for the first offense and $200 if a second offense occurs within a year.
The men and women who stripped naked and began yelling insults at the board after the vote were quickly covered with blankets by sheriff's deputies and hustled out of the chamber.
One man warned that the nudity ban sends the wrong message to children about their bodies.