The vote comes after a U.S. airstrike killed a top Iranian general in Baghdad, sparking an outcry in Iraq.
Iraqi Prime Minister Adel Abdul Mahdi is pushing for parliament to end foreign troop presence as soon as possible.
The resolution asks Iraq's government to cancel the request for assistance from the U.S.-led coalition operating in the country against the Islamic State. The death of Iranian military commander Qasem Soleimani in a U.S. airstrike has enraged Shiite militias in Iraq. The Baghdad government has accused Washington of violating its sovereignty.
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