Commons Speaker John Bercow welcomed the ruling and said Parliament “must convene without delay”, adding that he would now consult party leaders “as a matter of urgency”.
Mr Bercow said MPs needed to return “in light of the explicit judgement”, and he had “instructed the House of Commons authorities to prepare… for the resumption of business” from 11:30 BST on Wednesday.
He said prime minister’s questions – which normally takes place on a Wednesday – would not go ahead, though, because Mr Johnson was in New York for a UN summit.
However, Mr Bercow said there would be “full scope” for urgent questions and ministerial statements.
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Boris Johnson’s decision to suspend Parliament was unlawful, the Supreme Court has ruled.
Mr Johnson suspended – or prorogued – Parliament for five weeks earlier this month, but the court said it was wrong to stop MPs carrying out duties in the run-up to Brexit on 31 October.
Supreme Court president Lady Hale said “the effect on the fundamentals of democracy was extreme.”
Downing Street said it was “currently processing the verdict”.