The National Assembly Speaker argued that by allowing the economic crisis to spiral out of control, President Maduro had failed to fulfil his duties.
The resolution is the latest in a series of attempts by the opposition to oust Mr Maduro from office.
However, the Supreme Court is expected to declare the move unconstitutional.
Even before lawmakers voted on the resolution on Monday, the Supreme Court had warned in a statement [in Spanish] that it was not in the power of the National Assembly to remove the president from office.
Instead, it called on opposition lawmakers to resolve their differences with the government through dialogue.
Opposition politicians and government representatives are due to meet for talks on Friday on how to solve Venezuela's economic and political crisis.
The country is deeply divided into those who want to see President Maduro ousted from office and those who continue to be loyal to the "Bolivarian Revolution", the brand of socialism introduced by his predecessor in office, Hugo Chavez.
President Maduro's critics say he, and Mr Chavez before him, are to blame for the sky-rocketing inflation and chronic shortages of basic goods the country is experiencing.
Mr Maduro in turn blames Venezuela's business elite, accusing it of sabotaging the country's economy and conspiring with "imperialist forces" in the United States to force him from office.
Previous attempts by the opposition to remove Mr Maduro from the presidency before his term comes to an end at the beginning of 2019 have so far failed.
But critics of President Maduro remain adamant that a new government is needed to lift Venezuela from its economic crisis.
The governing Socialist Party, meanwhile, continues to back Mr Maduro.
Its vice-president, Diosdado Cabello, said on Monday: "President Maduro has not resigned and he will not resign."
"He has not abandoned his post, and we have not recognized nor will we recognize a disobedient legislature," he added.

When operational, the Â£10bn nuclear plant is expected to create 850 permanent jobs and should start generating power by 2025.
But in a draft letter, the council has criticised Horizon for the lack of detail in its final consultation.
Horizon said it was "surprised and disappointed" by the council's response.
In the letter, the council's chief executive expressed concern at a decrease in proposed local employment during the building phase.
Dr Gwynne Jones also said there was "an objectionable lack of detail" on proposals to house 4,000 building workers on site.
The letter called for "immediate" investment in education to ensure that local young people will be employed at the proposed power station.
It suggested that, due to the lack of detail, the legality of the process could be in doubt.
"The council remains committed to working with Horizon and other key stakeholders but... not at any cost nor with promises of 'jam tomorrow'," the letter added.
A third and final consultation into the power station plans has been held and Horizon hopes to submit a planning application, known as a development consent order, later this year.
Responding to the council's comment, Horizon's Richard Foxhall said: "They have been made aware of what we intended to consult on before May 2017. They agreed with the content of what we do in the consultation.
Of course, what we've consulted on is what to change since last year, not necessarily on the whole project.
"However we do look forward to working with the council. This isn't the end of the game as far as input."
He added there was no question of the company's consultation process being illegal.

A Guardian article claims Al Hasawi, who has said he is close to selling the club, wants wages that could rise to £1m a year, as well as bonuses.
A United States consortium is on the verge of a £50m deal, which would see Al Hasawi retain a 20% stake.
Al Hasawi said "the information published was inaccurate".
"The terms of any potential investment deal are, and will remain, confidential and the club will not be making any comment in relation to this issue," a statement on the club website continued.
"The matter has now been passed to my legal team, as such it would not be appropriate to comment further at this time."
The takeover would see millionaire John Jay Moores, the former San Diego Padres owner, take an 80% stake in Forest.
Venezuela's National Assembly, which is controlled by opposition parties, has declared that President Nicolas Maduro has "abandoned his post".
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The company behind Wylfa Newydd has been told Anglesey council will not support the scheme "at any cost".
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Nottingham Forest owner Fawaz Al Hasawi has denied reports he is demanding a large annual salary and huge bonuses as part of any takeover deal.