Tuesday's vote, which has no binding effect on the government, was held in the presence of visiting Palestinian President Mahmoud Abbas, who later addressed Parliament, Ekathimerini reports.
Prime Minister Alexis Tsipras has declined to say when Greece could adopt the parliamentary resolution.
Read also'Open the borders' rally in Athens in GreeceTsipras's government is trying to balance improved relations with Israel with his party's longstanding support for a Palestinian state. Tsipras visited Israel last month, meeting with Prime Minister Benjamin Netanyahu. He also met with Abbas in Ramallah, West Bank.