President Yoon Suk Yeol imposed martial law last Tuesday and sent armed forces to the National Assembly. The measure was canceled six hours later after the parliament voted against it.
Kim, who allegedly played a key role in proposing and implementing the emergency decree, faces charges of insurrection and abuse of authority.
He was questioned by the special prosecution investigation unit and placed in emergency custody early Sunday.
On Thursday, prosecutors imposed a travel ban on Kim following his resignation.
A motion to impeach Yoon was scrapped Saturday due to a lack of quorum after the ruling People Power Party boycotted the vote.
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