Yoon imposed martial law on the night of Dec. 3, sending troops and helicopters to the National Assembly. The decree was canceled later after lawmakers voted against it.
The opposition-controlled National Assembly approved a second impeachment motion against the embattled president, labeling the martial law declaration an unconstitutional act of insurrection.
The bill passed 204-85, with three invalid votes and eight abstentions, surpassing the two-thirds majority required in the 300-seat National Assembly. All 300 lawmakers participated in the vote.
Yoon's powers will be suspended later in the day after parliamentary officials deliver formal documents to the presidential office and Prime Minister Han Duck-soo will take over as acting president.
The Constitutional Court will review the case for up to 180 days. If the court upholds impeachment, a new presidential election must be held within 60 days.
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