A non-binding resolution passed by a show of hands said the European Commission, the EU's executive arm, was "legally obliged to take measures temporarily reintroducing visa requirements for US citizens" within two months.
Any move to reintroduce visa requirements for US citizens would have to be approved by member states first, a process which could take years.
"Citizens of Bulgaria, Croatia, Cyprus, Poland and Romania still cannot enter US territory without a visa, while US citizens can travel to all EU countries visa-free," a parliament statement said.
The parliament statement noted that Canada also imposed visa requirements on Bulgarian and Romanian citizens but these restrictions were now due to be lifted in December.
The spat comes at a time when the European Union is keeping a wary eye on new US President Donald Trump who has attacked the EU, welcomed Brexit and imposed an immigrant ban on seven mainly Muslim countries which was later overturned by a court.
A spokeswoman for EU Migration Commissioner Dimitris Avramopoulos acknowledged the resolution and said he had resumed efforts to obtain full visa reciprocity during a reent visit to Washington.
"Our assessment of the situation with the US has not changed and we will continue our discussions.
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