Police estimated at least 200,000 people filled the streets of Seoul ahead of the vote. It is the second such attempt to impeach Yoon, after a previous motion failed to garner support from ruling party lawmakers.

The prime minister is set to assume presidential powers on an interim basis. The constitutional court will now review the vote, which could take months.

Impeached South Korean President Yoon Suk Yeol resisted investigators' calls on Monday for him to answer questions over his failed bid to declare martial law this month.

South Korea's parliament impeached President Yoon Suk Yeol for his attempt to impose martial law, the first time such a measure had been imposed on the nation in more than four decades.

South Korean investigators on Friday pressed ahead with their probe into impeached President Yoon Suk Yeol over his Dec. 3 martial law declaration, issuing another summons demanding that he appear for questioning on Christmas Day,

Impeached South Korean President Yoon Suk Yeol's short-lived December 3 martial law declaration has spurred a wave of online misinformation. In one recent example, an image surfaced on social media that appeared to show a man throwing a glass bottle at a television broadcasting Yoon's defiant speech defending the imposition of martial law.