"Moments ago the UN General Assembly "elected" -amongst others -Bahrain, Philippines and Eritrea to serve on the Human Rights Council in a process that makes a mockery of the word elections (number of candidates matched the number of seats - there was no competition) #HRCelections", Tadros said in a tweet.
The 18 new members were selected from five regional blocs of countries, and their elections were largely predetermined since they were not challenged by other countries.
Countries needed a minimum of 97 votes to get elected to the Council.
India was vying for a seat in the Asia Pacific category.
Following the election, India's Permanent Representative to the UN Ambassador Syed Akbaruddin said that India's win with the highest number of votes reflects the country's standing in the worldwide comity.
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The regional group endorsed five countries, which matched the number of seats open for election this year, and they were the only countries on the ballot.
Nikki Haley, who this week announced her resignation as U.S. ambassador to the United Nations, said Friday's vote demonstrates why the USA was right to withdraw.
This is the fifth time India has been elected to the Geneva-based Council, the main body of the United Nations charged with promoting and monitoring human rights.
Countries can be elected to only two consecutive terms and India had taken a year's break when its term ended in 2017.
The United States pulled out of the council in June, calling the organization a "hypocritical" body that "makes a mockery of human rights", in particular in regard to its stance on Israel.
On the basis of equitable geographical distribution, council seats are allocated to the five regional groups as follows: African States, 13 seats; Asia-Pacific States, 13 seats; Eastern European States, 6 seats; Latin American and Caribbean States, 8 seats; and Western European and other States, 7 seats. Those countries will join other countries with poor human rights records, such as Cuba, China, Qatar and Saudi Arabia, on the world's top human rights body.
The new members of the Geneva-based council also include Argentina, Austria, Bangladesh, Bulgaria, Burkina Faso, the Czech Republic, Fiji, Italy, Somalia, Togo and Uruguay. India has been appointed for a period of three years from 2019 to 2022.