A total of 226 votes in favour were needed for the draft to be adopted.
The resolution received only 218 votes on Monday during a special session of the Ukrainian parliament, the Verkhovna Rada, held in the presence of international guests to mark the third anniversary of Russia's full-scale invasion.
On Monday, 54 MPs present in the meeting room unexpectedly did not take part in the vote, including 38 representatives from Zelenskiy's Servant of the People party.
They did not publicly disclose their reasons.
The resolution states, in the same wording as the previous day: "The Verkhovna Rada once again recalls that the President of Ukraine Volodymyr Zelenskiy was elected in free, transparent, democratic elections. His mandate is not called into question by the Ukrainian people or the Verkhovna Rada."
The document also states that Zelenskiy would remain in office until a newly elected president can take over, in accordance with the Ukrainian constitution.
Zelenskiy's regular term in office ended in May, however no elections can be scheduled due to the martial law that has been in place for three years.
Russia has nevertheless questioned Zelenskiy's legitimacy.
The United States is also increasingly pushing for Ukraine to hold elections immediately after a ceasefire, which is currently under discussion.
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