The nonprofit's lobbying arm, which advocates for women's reproductive health issues, argued that calls for allowing birth control pills to be sold without a prescription are "empty gestures."
The policy change would "force women to go back to the days when they paid out of pocket for birth control — which can cost upwards of $600 a year," Planned Parenthood Action Fund wrote on its website.
The statement also noted that no prescription drug manufacturer has applied for their pills to be made available over the counter.
A number of Republican Senate candidates have backed over-the-counter birth control in races this year, including Cory Gardner in Colorado, Thom Tillis in North Carolina, Ed Gillespie in Virginia, Mike McFadden in Minnesota.
Potential Republican presidential contender Bobby Jindal also backs the idea.