But Roque has also said the ICC has no jurisdiction over the case because the tribunal was intended as a "court of last resort" and the Philippine courts were fully functioning.
Duterte complained that statements from United Nations officials showed they had already found him guilty.
In a lengthy statement, the Philippines president accused the ICC and the United Nations of a crusade against him, denouncing what he described as "baseless, unprecedented and outrageous attacks on my person".
The ICC in February began a preliminary investigation into Mr Duterte's controversial crackdown on the narcotics trade.
Senator Antonio Trillanes and Congressman Gary Alejano sent a supplementary communication several months later urging an ICC investigation, which included a list of public statements made by Duterte that they said amounted to "shoot-to-kill" orders.
But even as early as October 13, 2016, when Duterte had only been in office less than four months, the ICC prosecutor Fatou Bensouda said in a statement that she was "deeply concerned" over reports of extra-judicial killings of over 3,000 alleged drug users and pushers. The country's withdrawal will be seen as a blow for worldwide accountability in the region. "The Rome Statute to which the Philippines is a signatory and the law I am supposed to be charged under is not effective not enforceable in the Philippines", he added.
Adopted and signed by 123 states in 1998 at a conference in Rome, the treaty created the ICC and gave it jurisdiction over genocide, crimes against humanity, and war crimes.
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Mr Duterte has been accused of "crimes against humanity" before the ICC for these extrajudicial killings.
"I reiterate the United Nations is an organization consisting of states and as such all UN officials can not deal with elected leaders of member nations in a manner that the UN High Commissioner for Human Rights did", he added.
UN High Commissioner for Human Rights Zeid Ra'ad al-Hussein defended the independence, impartiality and expertise of special rapporteurs in the face of smear and hate campaigns, some involving incitement to violence.
"The deaths occurring in the process of legitimate police operations lacked the intent to kill", he added.
Duterte also argued that ICC does not have jurisdiction over his person since the Rome Statute could not actually be enforced in the country.
Lu said the United Nations rights office "shall respect the sovereignty of the Philippines and the will of its people, view the outcomes of the Philippines' fight against drugs and terrorism in a comprehensive, unbiased and objective way, and support its efforts to move forward its human rights cause in light of its national conditions".
Duterte, however, maintained that the ICC will never have jurisdiction "over [his] person", as global law "cannot supplant, prevail or diminish" a domestic law.