A bill to this effect is expected to be introduced in the next 30 days, after opposition MPs boycotted the vote.
The ICC has charged President Uhuru Kenyatta and Deputy President William Ruto with crimes against humanity, which they both deny. Mr Ruto’s trial is due to start in The Hague next week.
The ICC said the cases would continue even if Kenya pulled out.
The charges against both Mr Kenyatta and Mr Ruto stem from violence that broke out after disputed elections in 2007, in which more than 1,000 people were killed and 600,000 forced from their homes.
Mr Kenyatta is to go on trial in November.