All 180 lawmakers voted for the resolution, which also called on the government to review a 1992 agreement that set up the peacekeeping arrangement.
The resolution set no deadline for the withdrawal.
Georgian President Mikheil Saakashvili has vowed to bring South Ossetia and another breakaway republic, Abkhazia, peacefully under central government control. Both broke away from Georgia following wars in the early 1990s.
(AP, AFP, ITAR-TASS)