A panel of the House Oversight Committee voted Wednesday to subpoena the Justice Department for the Jeffrey Epstein files, with three Republicans joining five Democrats to support the effort.

The motion for a subpoena, introduced by Representative Summer Lee of Pennsylvania, is the latest effort by Democrats to force Republicans to record positions on whether to release the Epstein files, an issue that has divided the G.O.P. The Republicans who voted for the subpoena were Representatives Nancy Mace of South Carolina, Brian Jack of Georgia and Scott Perry of Pennsylvania.

Before the final vote, Republicans added language to the subpoena that would require the Justice Department release any communications between former President Joseph R. Biden Jr. and the department about Mr. Epstein, redact information about Mr. Epstein’s victims and remove any material depicting children being sexually abused.

Republicans on the panel also voted for additional subpoenas connected to an investigation into Ghislaine Maxwell, a longtime associate of Mr. Epstein who is serving a 20-year prison term for sex trafficking and other crimes.

The Oversight Committee on Wednesday issued a subpoena to Ms. Maxwell for a deposition that is scheduled for Aug. 11 at the federal prison in Florida where she is currently in custody.

The new subpoenas included former President Bill Clinton and Hillary Clinton, the former secretary of state and one of Mr. Trump’s top political rivals; James B. Comey, the former F.B.I. director; Robert S. Mueller III, the special counsel who investigated Russian interference in the 2016 election; and a group of former U.S. attorneys general who served under both Democratic and Republican presidents, including Mr. Trump.