"Lawmakers approved a draft resolution proposing that Pakistan "should maintain neutrality in the conflict so as to be able to play a proactive diplomatic role to end the crisis," Dawn online reported.
The resolution says that Pakistan will not become a party in the Yemen crisis. However, Pakistan will come to Saudi Arabia's defence if the country's sovereignty or territorial integrity is threatened.
Pakistan parliament summoned joint session after the Saudi government approached Islamabad for Pakistani warplanes, warships and soldiers to assist in the conflict and join the Saudi-led military coalition that began conducting air strikes last month against Houthi forces in Yemen.
Prime Minister Nawaz Sharif was also present in the House when the resolution was adopted.
A draft of the resolution was read out by Finance Minister Ishaq Dar before it was passed unanimously by all members of the Senate and National Assembly attending the session.