The resolution was tabled by Pakistan People's Party (PPP) lawmaker Fakhr Alam Wazir and unanimously passed by the House.
The resolution termed the US drone strike deep inside Pakistan in the restive Balochistan province an attack on the country's integrity and called on Obama to tender an apology, The News International reported.
It also asked the federal government to lodge strong protest at diplomatic level.
Pakistan has lodged a protest with the US and termed the drone strike an attack on country's sovereignty.