The body ruled that the South African parliament had not fulfilled its duty to hold Zuma accountable for a scandal in which the president allegedly used public funds to upgrade his home.
The governing African National Congress tried to use its majority in Parliament to shield Zuma from liability, but the Constitutional Court ruled a year ago that he'd violated his oath of office by failing to comply with Madonsela's directive and ordered the Treasury to determine how much he owed.
Together, these developments will give rise to new calls to strip Zuma of his position before South Africa's next presidential election in 2019, in which he can not participate, promising more trouble ahead for the lame-duck president.
"Therefore, we conclude that the assembly did not hold the president to account", Jafta said.
Earlier this month, the African National Congress - the controlling party in South Africa - elected Deputy President Cyril Ramaphosa as its leader, setting the stage for him to become the next president of the country when Zuma's term expires in 2019.
"The failure by the National Assembly to make rules regulating removal of the president ... constitutes a violation" of the constitution, the court said. Chief Justice Mogoeng Mogoeng disagreed with the judgment, describing it as "a textbook case of judicial overreach".
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He found applicants EFF‚ UDM and Cope were themselves part of a process that already taking place to make rules for motions to remove the president under Section 89 of the Constitution.
Daniel Silke, director of Political Futures Consultancy, said the ball was now in the ANC's court.
Zuma, an earthy politician with scant formal education who spent a decade in prison with Nelson Mandela for fighting apartheid, has faced numerous corruption allegations throughout his presidency.
"The ANC will study the judgement and discuss its full implications when the National Executive Committee meets on January 10, 2018", she said. "It appears that parliament will have to launch an investigation to establish the facts before bringing the matter before the House for debate and decision". "We can only hope that this judgement will be implemented very soon", Theron added.
The court also disagreed with Parliament's contention that it had held Zuma accountable.