The proposal was debated late on Tuesday; 183 lawmakers opposed the ban, 162 lawmakers voted for it and two abstained.
The nonbinding proposal had been put forward by the leading opposition Popular Party, which portrayed it as a measure in support of women's rights.
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The ruling Socialist Party opposed the ban.
Other European countries have also debated banning body covering clothing such as burqas or niqabs.
Within Spain, the city government of northeastern Barcelona and some neighbouring town councils have banned the wearing of such garb in public buildings such as town halls and hospitals.
