SEOUL—South Korea’s legislature voted to impeach acting President Han Duck-soo on Friday after he declined to make judicial appointments needed to advance the impeachment of his predecessor, extending the political upheaval that began with a short-lived martial law declaration earlier this month.

South Korea has voted to impeach its acting president Han Duck-soo, two weeks after parliament voted to impeach its President Yoon Suk Yeol. Some 192 lawmakers voted for his impeachment, more than the 151 votes needed for it to succeed.

A majority of South Korea's parliament voted on Friday to impeach acting president Han Duck-soo. Prime Minister Han has been acting president since President Yoon Suk Yeol was impeached on Dec. 14 over his short-lived imposition of martial law on Dec.