Tesla's stock is down more than 7 per cent year to date.
Tuesday's vote also determined the fate of three members of Tesla's board of directors: Antonio Gracias, a private equity investor; Kimbal Musk, Elon Musk's brother; and James Murdoch, the chief executive of Twenty-First Century Fox.
Despite concerns that each member would be unable to help Musk focus on the many challenges Tesla faces, stockholders voted to maintain their positions on the board.
The proposal to remove Musk from his role as chairman of Tesla's board was introduced by Jing Zhao, a shareholder who has questioned whether Musk - who leads several other companies in addition to Tesla - is spread too thin.
"Although the current leadership structure, in which the positions of Chairman and CEO are held by one person, could provide an effective leadership for Tesla at the early stage, now in this much more highly competitive and rapidly changing technology industry, it is more and more difficult to oversee Tesla's business and senior management (especially to minimize any potential conflicts) that may result from combining the positions of CEO and Chairman," Zhao wrote in his proposal.
Musk's exceptional ability to raise capital and convince investors to buy into his long-term vision is why Steve Blank - a retired Silicon Valley entrepreneur who teaches business students at Stanford - thought it was unlikely Musk would be removed from his position on Tesla's board.
Like Steve Jobs before him, Blank said, Musk excels as a visionary and innovator, but struggles to implement that vision. Jobs eventually mastered both innovation and execution and Blank thinks Musk will, too, so long as he continues to move past the creative phase of his career.
"This is no longer an innovation problem, this is an execution at scale problem - unless Tesla wants to be a niche innovator chasing profitability and sucking up cash," Blank said.
"They need to become experts at execution at scale, but that's hard for people who in their DNA want to continually innovate."
"It gets boring to execute," he added. "I am a huge Elon fan. What people miss is that this is an authentic American hero and most of these heroes have in them the seeds of their own destruction."