He also plans to vote today against a resolution urging Vice President Mike Pence to use the 25th Amendment to remove Trump from office.
"I plan to vote no on both," he said
He called the vote on the 25th Amendment a "false vote" and "nothing less than a partisan vote.
And he said the impeachment process would be rushed and that it is unrealistic to remove Trump before he leaves office on January 20. If challenged, Trump could also be disqualified from returning to elected office.
Davis said he was upset that the Democrats "decided to hold a recall vote without any hearing, without an opportunity to discuss what really happened, and knowing full well" that Trump would not be removed from office early.
Although Trump is in the U.S. Constitution, Davis also said the impeachment would be an attack on the Constitution, comparable to the Republicans' efforts to override the Electoral College vote.
On January 6, Davis voted to accept the Electoral College results.
"I am concerned about the Constitution," he said. "The impeachment was not supposed to be a political sledgehammer, dragging on for days without being able to remove the president before he left" on January 20.
Davis accused the Democrats of placing "the same unreasonable expectations on the Electoral College that some Republicans place on election challenges.
"Let's move forward, and let's do it together," Davis said.
Davis also voted against Trump's challenge in December 2019.
Asked to what extent Trump was responsible for the violence at the U.S. Capitol building last week, Davis said, "The words he used and what some of my Republican colleagues used - I hope they regret it. And at the same time, I hope Nancy Pelosi regrets the terrible rhetoric" that he believes helped provoke the gunman who attacked him and other House Republicans at a baseball practice in 2017.
On Tuesday, Trump said his comments at last week's rally before the violence were "absolutely appropriate.
Davis will vote against the removal of Rep. Mary Miller, R-Oakland.
"I will oppose any article that moves to impeach our president and I will pray for the immediate peace that we need," he said in a statement.
Last week, Miller also voted against ratification of the Electoral College vote.