The state's GOP executive committee met for about three hours Monday. Twenty-two members supported the censure. Ten voted to call for his resignation and nine others voted against any reprimand.
In a statement, Sanford says he appreciates the party's position and will continue to work to earn back its trust, the Associated Press reported.
The governor has said repeatedly that he will serve his remaining 18 months in office.
Some members of the state's Republican party reportedly do not want Sanford to resign because they wish to compete for the governor's mansion in 2011 and the state's current lieutenant governor, Andre Bauer, might have an advantage in running for reelection as the incumbent governor.