South Korean President Yoon Suk Yeol's government early Wednesday lifted the martial law he imposed during a tense night of political drama in which troops surrounded parliament and lawmakers voted to reject military rule.

Police and military personnel were seen leaving the grounds of parliament following the bipartisan vote, and the declaration was formally lifted around 4:30 a.m. during a Cabinet meeting.

Yoon imposed martial law late Tuesday, vowing to eliminate “anti-state” forces as he struggles against an opposition that controls parliament and that he accuses of sympathizing with communist North Korea.

Less than three hours later, parliament acted, with National Assembly Speaker Woo Won Shik declaring that the martial law was “invalid” and that lawmakers “will protect democracy with the people.”

The president's surprising move harkened back to an era of authoritarian leaders that the country has not seen since the 1980s, and it was immediately denounced by the opposition and the leader of Yoon's own party.

Lee Jae-myung, leader of the liberal Democratic Party, which holds the majority in the 300-seat parliament, said the party's lawmakers would remain in the Assembly's main hall until Yoon formally lifted his order.

Woo applauded how troops quickly left the Assembly after the vote.

“Even with our unfortunate memories of military coups, our citizens have surely observed the events of today and saw the maturity of our military,” Woo said.

While announcing his plan to lift martial law, Yoon continued to criticize parliament's attempts to impeach key government officials and senior prosecutors and lawmakers' “unscrupulous acts of legislative and budgetary manipulation that are paralyzing the functions of the state.”

Jo Seung-lae, a Democratic lawmaker, claimed that security camera footage following Yoon's declaration showed that troops moved in a way that suggested they were trying to arrest Lee, Woo and even Han Dong-hoon, the leader of Yoon's People Power Party.

Officials from Yoon's office and the Defense Ministry did not respond to requests for comment early Wednesday.

Seemingly hundreds of protesters gathered in front of the Assembly, waving banners and calling for Yoon's impeachment.

Some protesters scuffled with troops ahead of the lawmakers' vote, but there were no immediate reports of injuries or major property damage. At least one window was broken as troops attempted to enter the Assembly building. One woman tried unsuccessfully to pull a rifle away from one of the soldiers, while shouting “Aren't you embarrassed?”

Under South Korea's constitution, the president can declare martial law during “wartime, war-like situations or other comparable national emergency states” that require the use of military force to maintain peace and order. It was questionable whether South Korea is currently in such a state.

When martial law is declared, “special measures” can be employed to restrict the freedom of press, freedom of assembly and other rights, as well as the power of courts.

The constitution also states that the president must oblige when the National Assembly demands the lifting of martial law with a majority vote.

Following Yoon's announcement, South Korea's military proclaimed that parliament and other political gatherings that could cause “social confusion” would be suspended, South Korea's Yonhap news agency said. The military said anyone who violates the decree could be arrested without a warrant.

In Washington, the White House said the U.S. was “seriously concerned” by the events in Seoul. A spokesperson for the National Security Council said President Joe Biden's administration was not notified in advance of the martial law announcement and was in contact with the South Korean government.

Speaking at an event with Japan's ambassador to Washington, U.S. Deputy Secretary of State Kurt Campbell, a longtime Asia diplomat, reiterated that the U.S.-South Korea alliance is “ironclad” and the U.S. would “stand by Korea in their time of uncertainty.”

Pentagon spokesman Maj. Gen. Pat Ryder said there was no effect on the more than 27,000 U.S. service members based in South Korea. They are not confined to base or under any type of curfew, Ryder said.

The South Korean military also said that the country's striking doctors should return to work within 48 hours, Yonhap said. Thousands of doctors have been striking for months over government plans to expand the number of students at medical schools.

Soon after the declaration, the parliament speaker called on his YouTube channel for all lawmakers to gather at the National Assembly. He urged military and law enforcement personnel to “remain calm and hold their positions.

All 190 lawmakers who participated in the vote supported the lifting of martial law. Television footage showed soldiers who had been stationed at parliament leaving the site after the vote.

Hours earlier, TV showed police officers blocking the entrance of the National Assembly and helmeted soldiers carrying rifles in front of the building.

An Associated Press photographer saw at least three helicopters, likely from the military, that landed inside the Assembly grounds, while two or three helicopters circled above the site.

The leader of Yoon's conservative People Power Party called the decision to impose martial law “wrong” and vowed to “stop it with the people.” Lee, who narrowly lost to Yoon in the 2022 presidential election, said Yoon's announcement was “illegal and unconstitutional.”

Yoon said during a televised speech that martial law would help “rebuild and protect” the country from “falling into the depths of national ruin.” He said he would “eradicate pro-North Korean forces and protect the constitutional democratic order.”

“I will eliminate anti-state forces as quickly as possible and normalize the country,” he said, while asking the people to believe in him and tolerate “some inconveniences.”

Yoon — whose approval rating has dipped in recent months — has struggled to push his agenda against an opposition-controlled parliament since taking office in 2022.

Yoon's party has been locked in an impasse with the liberal opposition over next year's budget bill. The opposition has also attempted to pass motions to impeach three top prosecutors, including the chief of the Seoul Central District Prosecutors' Office, in what the conservatives have called a vendetta against their criminal investigations of Lee, who has been seen as the favorite for the next presidential election in 2027 in opinion polls.

During his televised announcement, Yoon also described the opposition as “shameless pro-North Korean anti-state forces who are plundering the freedom and happiness of our citizens,” but he did not elaborate.

Yoon has taken a hard line on North Korea over its nuclear ambitions, departing from the policies of his liberal predecessor, Moon Jae-in, who pursued inter-Korean engagement.

Yoon has also dismissed calls for independent investigations into scandals involving his wife and top officials, drawing quick, strong rebukes from his political rivals.

Yoon's move was the first declaration of martial law since the country's democratization in 1987. The country's last previous martial law was in October 1979, following the assassination of former military dictator Park Chung-hee.

Sydney Seiler, Korean chair at the Center for Strategic and International Studies, argued that the move was symbolic for Yoon to express his frustration with the opposition-controlled parliament.

“He has nothing to lose,” said Seiler, comparing Yoon's move to the Hail Mary pass in American football, where he hoped for a slim chance of success.

Now Yoon is likely to be impeached, a scenario that was also possible before he made the bold move, Seiler said.

Natalia Slavney, research analyst at the Stimson Center's 38 North website that focuses on Korean affairs, said Yoon's imposition of martial law was “a serious backslide of democracy" that followed a “worrying trend of abuse” since he took office in 2022.

South Korea “has a robust history of political pluralism and is no stranger to mass protests and swift impeachments,” Slavney said, citing the example of former President Park Geun-hye.

Park, the country's first female president, was ousted from office and imprisoned for bribery and other crimes in 2017.