The lawmakers said they were reiterating their request due to concerns over Trump's interview with the New York Times, in which the president criticized the attorney general for recusing himself from the investigation into Russia's alleged interference in the 2016 election.
"President Trump's contempt for the leadership of the Department of Justice is now clear," they said in their letter.
The Democrats' three previous requests to Goodlatte were ignored.
Trump told the New York Times that he would never have nominated Sessions for the post if he had known that the then-senator would recuse himself from overseeing the Justice Department's Russia probe.
At least seven US institutions — the Justice Department, the Senate Intelligence Committee, House Intelligence Committee, the Senate Judiciary Committee, the House Oversight and Government Reform Committee, House Financial Services Committee and Department of Defense Inspector General — have launched inquiries into various aspects of the alleged Russian interference in the election or alleged Trump campaign collusion.
Moscow denies interfering in the election, and Trump insists that his campaign team did not engage in any nefarious activity in the run-up to the vote.