White House in Washington D.C., in this photo taken on Dec. 1. Reuters-Yonhap

The United States is "relieved" that Korean President Yoon Suk Yeol has changed course on his martial law declaration and respected the National Assembly's vote to end it, a White House official said Tuesday, stressing democracy is at the "foundation" of the bilateral alliance.

A National Security Council spokesperson made the remarks as Yoon's Cabinet approved a motion to end martial law enforcement, which he declared hours earlier, accusing the nation's opposition of "anti-state" activities.

"We are relieved President Yoon has reversed course on his concerning declaration of martial law and respected the ROK National Assembly's vote to end it," the spokesperson said in a statement, referring to South Korea by its official name, the Republic of Korea.

"Democracy is at the foundation of the U.S.-ROK alliance, and we will continue to monitor the situation," the official added.

Before martial law was lifted, the spokesperson said that the U.S. was "seriously concerned," while noting that Washington was not notified in advance of Yoon's emergency declaration.

The martial law declaration came after the opposition Democratic Party railroaded a downsized budget bill in the parliamentary budget committee, and submitted impeachment motions against a state auditor and the chief prosecutor. (Yonhap)