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Hi and welcome to the forums.
No they are not allowed to debit an account without permission. Or even try to do so.
Hindsight is 20/20 but never, ever, ever, give a CA your debit, credit card or bank account number unless it is paying off the full amount in one payment. This happens all the time.
Call them and let them let them know they did not have permission per your original arrangements and let them know if they do it again you will file a complaint against them.
If they don't put the money back in your account. I see legal action against them!!!
They didn't take any money. They tried but there was none to take. OP had the foresight to remove the funds.
It is the point of them doing it in the first place after they were told not to.