Four-time world champion Sebastian Vettel claimed it would be "stupid" to vote against the cockpit head protection system becoming mandatory in 2017.
He also said aesthetic concerns about the Halo should be ignored as "nothing justifies death".
But following a lengthy meeting in Geneva of Formula One's strategy group, which consists of the sport's major teams, chief executive Bernie Ecclestone and FIA president Jean Todt, the required majority was not reached. As such, Formula One will have to wait until at least 2018 before the Halo is introduced.
Vettel, a Grand Prix Drivers' Association (GPDA) director, championed the case for the Halo before the verdict from Geneva was announced.
Speaking ahead of his home race in Germany, he said: "We had a vote amongst the drivers, and 95 per cent voted for it. The majority said we don't like the look of it but I don't think there is anything really that justifies death.
''We have always learned from what happened and tried to improve. This would be the first time in human history that we've learnt a lesson and we don't change.
''It is up to us to make sure it does happen otherwise it would be quite stupid.''
British rookie Jolyon Palmer had earlier suggested most of the 22 drivers were against the Halo, but only five of them - Palmer, his Renault team-mate Kevin Magnussen, Nico Hulkenberg, Daniil Kvyat and Romain Grosjean have publically spoken out against the concept.
Defending champion Lewis Hamilton has opposed the Halo, but was won round following a safety briefing in Hungary last Friday night.
Jenson Button, also a director of the GPDA, disagreed with Palmer's comments.
"He's incorrect and it's very unfair for him to speak for other drivers as well because each individual should speak for themselves on a safety issue," Button said.
"It's a great solution. It's not going to change anything other than when we have flying objects we won't get killed by them, so it's always a positive."
The FIA, the sport's governing body, had been keen for the Halo to be introduced in 2017 following a spate of high-profile accidents in recent years.
In July of last year, Frenchman Jules Bianchi became the first driver to die following injuries sustained at a grand prix weekend since the fatality of Ayrton Senna at the San Marino Grand Prix in 1994.
British IndyCar driver Justin Wilson and Henry Surtees, competing in Formula Two, were killed in recent years after they were struck on the crash helmet by debris from other accidents.
The FIA claims both drivers would have been saved had the Halo been installed on their cars.
Source: PA
