England replaced its king in 1688 with barely a shot fired, and wrote the rules down
In 1688, a coalition of English nobles invited William of Orange to invade and take the throne from the unpopular, Catholic-leaning King James II, who fled to France with almost no fighting. Parliament then crowned William and Mary jointly, but only after they accepted a Bill of Rights limiting royal power, including the Crown's ability to tax or raise an army without its consent. The episode is often credited with cementing constitutional government in England far earlier than most of Europe.