The vote was 354-60 with four members voting present.
The resolution stated that "an abrupt withdrawal of United States military personnel from certain parts of Northeast Syria is beneficial to adversaries of the United States government, including Syria, Iran, and Russia."
It went on to say that Congress "opposes the decision to end certain United States efforts to prevent Turkish military operations against Syrian Kurdish forces in Northeast Syria."
Roe, R-Tennessee, pointed out there are still 1,000 U.S. troops in the region guarding oil fields.
"(Trump's) campaign promise was to get us out of there," Roe said in a conference call with reporters. "I disagreed with the president on that. ... Where this ends up, I don't know. He had promised people he was coming out of there. I think he will stick with that. My concern is he'll leave a void with some really bad people."
Roe called the area a "humanitarian nightmare" with over a half-million people killed and 4 million displaced.
What’s going on with the impeachment inquiry?
Concerning the possibility of a Trump impeachment inquiry, Roe stressed there has been no vote on the House floor.
The only person with subpoena power, said Roe, is U.S. Rep. Adam Schiff, chairman of the House Intelligence Committee.
"Right now all we have is a committee hearing," he said. "We have three committees hearing it behind closed doors ... in a classified situation where there are selected leaks that come out with information. What we have said is call the impeachment inquiry vote, have that vote, then do this in the open. Let everybody hear what's going on."
Roe stressed U.S. Sen. Lindsey Graham, R-South Carolina, recently came to talk to GOP House members about the situation.
In that conversation, Roe said: "(Graham) said 'The president doesn't even collude with his own party. How in the world could he be colluding with Russia and the Ukraine?' "