SEOUL, South Korea — South Korean President Yoon Suk Yeol declared martial law in an unannounced late-night TV address on Tuesday and was met with defiance from opposition lawmakers in the National Assembly some 155 minutes later.

With 190 of its 300 members present, South Korea’s parliament quickly passed a resolution demanding that Yoon lift his order while protesters opposed to martial law gathered outside the building.

National Assembly Chairman Woo Won-sik announced after the vote…