"The resolution adopted by the German parliament will seriously affect relations between Germany and Turkey," Erdogan said in Nairobi after talks with Kenyan President Uhuru Kenyatta.
He confirmed Ankara has recalled its ambassador to Germany, Huseyin Avni Karslioglu, for consultations.
Germany's charge d'affaires in the capital has also been summoned to the Turkish foreign ministry later in the day, a spokesperson for German embassy in Ankara told AFP.
Turkey's Deputy Prime Minister Numan Kurtulmus also slammed as "null and void" and a "historic mistake" the German parliament's resolution.
German lawmakers overwhelmingly adopted the resolution, defying Turkey's warnings that the vote could severely damage bilateral ties.
Kurtulmus said the decision was not beneficial for friendly relations between Turkey and Germany.
"This is an issue that needs to be finalised not by politicians or parliaments but by scientists and historians," he said.
Kurtulmus also warned that: "Of course, as Turkey, we will give an appropriate response to this decision on every level.
"Turkey's Foreign Minister Mevlut Cavusoglu blasted the "irresponsible" move by German parliamentarians and accused Germany of seeking to distract from its own dark history of the Third Reich.
Prime Minister Binali Yildirim, who hours before the vote warned Berlin that the move would "test" the friendship with Germany, called the resolution "erroneous."
Imperial Germany was a key ally of the Ottoman Empire in its last decades and both fought against the Allied powers in World War I.