Iraq's Parliament has called for US and other foreign military forces to leave amid a growing backlash against Washington's killing of a top Iranian military commander.

Qassem Soleimani and Iraqi militia leader Abu Mahdi al-Muhandis were killed on Friday in a US drone strike near Baghdad airport, an attack that has stoked concerns about a major military escalation between Tehran and Washington.

Soleimani was the architect of Tehran's overseas clandestine and military operations as head of the Revolutionary Guards' Quds Force.

The Iraqi parliament passed a resolution calling on the Government to work to end all foreign troop presence, reflecting the concern of many in Iraq that the strike could engulf the country in a major war between two bigger powers.