The motion was defeated by 198 votes against the motion and 177 votes for the motion.
"The vast majority of ANC MPs are not willing to risk the stability of the party in order to remove Zuma in this fashion".
Demonstrators in Johannesburg and Cape Town held placards which read "fire Zuma" and "no confidence" during a vocal show of opposition against the president, who is facing allegations of corruption and financial mismanagement.
Had the vote gone against him on Tuesday, he and his entire Cabinet would have had to step down. Its no-confidence motion said Mr Zuma had "lost all sense of rationality and sound judgment", harming the country's poorest citizens. The Guptas have denied interfering in the affairs of the state.
Sadly the Chief Whip of the party says the MPs who voted against Zuma will face disciplinary measures. I don't think - there must be very few people within the ANC who do not realize what a liability he has become. "In short, we believe that parliament should be dissolved now so that the country can hold an early election".
ANC stalwarts and veterans wrote an open letter on Sunday to MPs. And there was an ANC parliamentary caucus meeting ahead of the vote, with Zuma in attendance, but not speaking.
ANC members rallied in Cape Town to support Zuma, some carrying placards saying: "Zuma must stay".
The ANC's Nathi Mthethwa, the minister of arts and culture, said that his party would resolve its problems on its own, and he called on Parliament to resist what he called an attempt at a coup d'etat.
"Our choice is between right and wrong, between good and evil. And remove this corrupt and broken President from office", Mr Maimane said.
"I can tell you, they spent a lot of money".
Demonstrations both for and against Zuma are planned in front of the parliament building before the much-anticipated vote.
The DA expressed disappointment with the result, saying Zuma survived yet again due to the protection by the ANC that elected him twice and shielded him from accountability countless times. That has been downgraded to junk by two of the top three rating agencies, unemployment is at a 14-year high of 27.7 percent and the economy is back in recession. Let's fight an election for the future of our country, and let's do it now.