WASHINGTON—Former White House adviser Steve Bannon drew bipartisan ire on Capitol Hill Thursday by refusing to answer a range of questions from the House Intelligence Committee, with lawmakers vowing to take more drastic steps to compel his testimony.

Mr. Bannon, a onetime confidant of President Donald Trump who has since become estranged from him, appeared under subpoena before the committee as part of its continuing investigation into Russian interference in the 2016 U.S. presidential election.

During his roughly three-hour appearance behind closed doors, Mr. Bannon said he was willing to address only 25 prewritten questions about his time in government and the transition between administrations. Congressional subpoenas are mandatory summonses to answer questions.

Mr. Bannon has also been subpoenaed in the criminal investigation into Russia’s election meddling by special counsel Robert Mueller’s office, and spoke to his investigators over two days this week, a person familiar with the matter said.

Both Republicans and Democrats on the panel condemned his refusal to speak more broadly. Committee members said they would consider a number of steps, including a possible criminal referral to the Justice Department or a civil lawsuit in federal court, to compel him to answer the panel’s question.