Parrikar contested and won the Panaji Assembly bypoll last month.
He had resigned as defence minister in March to concentrate on the Goa Assembly polls. The BJP returned to power in the state.
A Rajya Sabha bulletin said, "Shri Manohar Parrikar, an elected member of the Council of States(Rajya Sabha), representing the state of Uttar Pradesh, resigned his seat in the Rajya Sabha and his resignation has been accepted by the Chairman, Rajya Sabha with effect from September 2, 2017".