"The full unity of the coalition has been confirmed," Tusk told reporters after the votes.
"This solidarity has strengthened us today," he said.
He added that the outcome showed the coalition would be able to withstand further political challenges from the opposition.
The votes had been seen as a test of coalition cohesion, particularly after some lawmakers from the Poland 2050 grouping, a junior government partner, signalled in recent weeks that they might support the motion against Hennig-Kloska, who left the party months ago to form a separate parliamentary group.
Earlier on Thursday, Poland 2050 leader and Funds and Regional Policy Minister Katarzyna Pełczyńska-Nałęcz said her party would give both ministers a "cautious vote of confidence" and oppose the bids to oust them.
In the end, one Poland 2050 lawmaker broke ranks and supported the motion against Hennig-Kloska, while the majority of the coalition voted it down, state news agency PAP reported.
Opposition lawmakers had accused Hennig-Kloska of incompetence and mismanaging climate policy, including what they described as chaotic decision-making and insufficient analysis of the social and economic impact of her ministry's actions.