The resolution tabled by a Pakistan People's Party lawmaker Fakhr Alam Wazir was unanimously passed by the house.
The resolution termed the US drone strike an attack on Pakistan's integrity and called on President Barack Obama to tender an apology.
It also asked the federal government to lodge a strong protest at the diplomatic level.
Islamabad had earlier lodged a protest with the US and termed the drone strike an attack on the country's sovereignty.
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