KIEV, Ukraine — Refusing to grant a central demand of protesters who have laid siege to public buildings and occupied a landmark plaza in this rattled capital, the Ukrainian Parliament on Tuesday defeated a measure calling for the resignation of Prime Minister Mykola Azarov and his government.

The failure of the no-confidence vote pushed the battle for the future of Ukraine back onto the streets, where demonstrators and allied political opposition leaders say they would not relent until they succeeded in removing the government, including President Viktor F. Yanukovich.

“Our demand is impeachment of the president and dismissal of the government,” said Oleksiy Ivannikov, 35, a construction engineer who was in a crowd of protesters with his friends. “I see no compromises here,” Mr. Ivannikov said. “How long should we go on compromising?”

In response to Parliament’s refusal to act, demonstrators — who have already blockaded the Cabinet of Ministers building and seized City Hall — said they intended to close off access to the headquarters of the presidential administration, which is heavily guarded by riot police officers. They also plan to try to cordon off Parliament in a bid to paralyze the legislative and executive branches of government.