SEOUL, South Korea — The South Korean parliament has voted to defy the country’s president and immediately lift his martial law declaration.

President Yoon Suk Yeol declared martial law late Tuesday, vowing to eliminate “anti-state” forces as he struggles against an opposition that controls the country’s parliament and that he accuses of sympathizing with communist North Korea.

The 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 conservative party.