Judges said it was wrong to stop MPs carrying out duties in the run-up to the Brexit deadline on 31 October.
"Parliament needs to sit again as soon as possible, only then can we hold this reckless Tory government to account and resolve the Brexit stalemate".
Their comments came as Boris Johnson returned to face the Commons last night where he dared opposition parties to table a motion of no confidence or back a general election.
Asked on the flight to NY whether a ruling by the Supreme Court that he had deliberately misled the queen would make his position as prime minister untenable, he replied: "No".
Several members of parliament are calling for Johnson's resignation, with the leader of the opposition Jeremy Corbyn saying that the decision speaks of Johnson's "contempt for democracy"; speaking at the Labour Party conference in Brighton, he called on Boris Johnson "to 'consider his position'".
Miller had made history a few years ago by forcing Johnson's predecessor Theresa May to seek Parliament's approval before invoking Article 50 which set the clock ticking on Britain's exit from the European Union (EU) in March 2017.
Labour has said it does not trust to Mr Johnson to obey Parliament's instructions to request a delay to Brexit, which the PM has insisted will happen on 31 October, with or without a deal.
The prime minister said a new election is the only way to unblock Britain's "paralysed Parliament".
Cabinet minister Nicky Morgan tweeted that "we all need to remind ourselves of the effect of everything we say on those watching us".
Despite the series of hammer blows in the House of Commons and the courts, as well as losing his parliamentary majority, Johnson is still riding high in the polls and keen for an election to try and win enough seats to push through Brexit.
"To this end, I will now consult the party leaders as a matter of urgency".
The speaker of the House of Commons, John Bercow, reconvened parliament at 11:30 am (1030 GMT) on Wednesday, with the upper House of Lords to return later in the day.
The unanimous ruling was followed by calls from opposition leaders for Johnson to step down as he was "unfit to rule".
The suspension "had the effect of frustrating or preventing the ability of Parliament to carry out its constitutional functions without reasonable justification", Hale said. "I don't agree with the verdict".
But Johnson repeated his criticisms of the court ruling and accused MPs of "surrender", "sabotage", and "betrayal".
"The obvious thing to do is call an election".
While previous British prime ministers, including David Cameron and Theresa May, had thought that they could negotiate deals with fellow European Union leaders at two-day summits, European Union diplomats need to prepare positions and agreements days before the meeting starts.
There's a special place in history waiting for you, Prime Minister.
Johnson was greeted with applause from his own Conservative lawmakers and jeers from the opposition side as he faced the Commons, hours after cutting short a trip to the United Nations in NY.