Alaska Senator Lisa Murkowski, a moderate Republican who is something of a political thorn in Trump's side, posted on X on Saturday:
"I am sick to my stomach as the administration appears to be walking away from our allies and embracing Putin."
Republican Rep Mike Lawler of New York called the meeting "a missed opportunity for both the United States and Ukraine".
Fellow Rep Don Bacon of Nebraska said it was "a bad day for America's foreign policy".
"Ukraine wants independence, free markets and rule of law. It wants to be part of the West. Russia hates us and our Western values. We should be clear that we stand for freedom," he said in a statement.
Neither Republican directly criticised Trump or Vance, who first quarrelled with Zelensky during the meeting.
Democrats, meanwhile, lambasted the White House.
"Trump and Vance are doing Putin's dirty work," Senate Minority Leader Chuck Schumer said.
Senator Chris Coons said Zelensky deserved better.
"We owe him our thanks for leading a nation fighting on the front lines of democracy - not the public berating he received at the White House," he posted on X.