The decision was supported by 318 lawmakers, with the required minimum of 226 votes. The document is now to be signed by President Volodymyr Zelensky.
The Ukrainian president registered the bill last month.
In late January, the Ukrainian Parliament passed a law allowing foreign troops to enter the country to participate in this year's exercises. It was later signed by Zelensky.
Soldiers take part in an exercise at the Yavoriv military training ground, close to Lvov, Western Ukraine, Friday, Sept 24, 2021. Ukraine, the US, and other NATO countries continue joint military drills in Western Ukraine presenting offensive exercises in town-like surroundings with tanks and other military vehicles involved.
© AP Photo / Pavlo Palamarchuk
Ukraine bans the operation of any military formations on its territory unless it is provided for by law. The deployment of foreign military bases is also illegal in the country, so each time a special law is proposed by the president and adopted by the parliament to allow foreign forces to take part in military drills.