The vote removes the army's obligation to enforce. They can stand down if they want.
Opposition leader Lee Jae-myung's statement.
Lee, who was speaking after parliament voted to block the martial law declaration, said the president's move was "illegal and invalid".
He said President Yoon Suk Yeol is now required to convene the State Council and immediately revoke the martial law declaration.
"All orders issued by the president based on the martial law declaration are unconstitutional, invalid, and illegal," he said.
"To the police and the members of the armed forces: any orders from the president stemming from this illegal martial law declaration are clearly unlawful, as they violate the constitution and the law."
He warned anyone following the president's orders would be seen as an "accomplice".
"From this moment on, I urge all members of the armed forces and police to swiftly return to your rightful positions and faithfully carry out your original duties," he said.