NSW parliament has voted against a bill giving people with a terminal illness the right to end their own suffering by choosing the manner and timing of their death.

"They will be screaming out in frustration," said Greens MP Cate Faehrmann, who introduced the bill to the NSW upper house last week.

Annoyed: Greens MP Cate Faehrmann. Credit:Jonathan Carroll

As if on cue, a man in a wheelchair yelled out from the public gallery: "You people have no right, you’re all gutless."

The house also voted against sending the matter to a parliamentary committee for further investigation.

It followed emotional scenes on Thursday morning, when MPs debated the bill giving terminally ill people who are over 18 and mentally capable the right to an assisted death.