The decision escalates a bitter dispute with the international community over the human rights situation in the East African country, which has seen more than a year of deadly violence after President Pierre Nkurunziza made a controversial decision to pursue a third term.
No state has withdrawn from the ICC, according to the Coalition for the International Criminal Court. The court prosecutes cases of genocide, war crimes and crimes against humanity.
Ninety-four out of 110 Burundi lawmakers voted in favor of the withdrawal plan, months after the ICC announced it would investigate the country's ongoing violence.
Only Africans have been charged in the six cases that are ongoing or about to begin, though preliminary ICC investigations have been opened elsewhere in the world.
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Of the 124 countries that are parties to the Rome Statute, 34 are African, the largest continental bloc. The United States is not a party to the treaty.
Burundi's decision is not immediate. Observers say a county wishing to withdraw from the ICC must write to the UN secretary-general stating its intention, and the withdrawal takes effect a year after the day the secretary-general receives the letter.
"Already, we have information that intelligence agents are torturing, killing Burundians behind closed doors," he said. "The world ought to rescue the people of Burundi."
Burundi's government has repeatedly said it is the victim of propaganda by exiles and opponents who want to diminish its credibility.
Hundreds have died in Burundi since Nkurunziza last year pursued and won a third term that many call unconstitutional. Since the ruling party announced his candidacy in April 2015, Burundi has seen violent street protests, forced disappearances and assassinations. More than 260,000 have fled.
The push among some African countries to withdraw from ICC began after the court indicted Kenyan President Uhuru Kenyatta on charges of crimes against humanity for 2007 post-election violence in which more than 1,000 died. The ICC prosecutor said threats to witnesses, bribery and lack of cooperation by Kenya's government led to the case's collapse. Some countries want a separate African court with jurisdiction over rights abuses.
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