Damping of magnetic fields via ambipolar diffusion and decay of magnetohydrodynamical (MHD) turbulence in the post decoupling era heats the intergalactic medium (IGM). Delayed recombination of hydrogen atoms in the IGM yields an optical depth to scattering of the cosmic microwave background (CMB). The optical depth generated at z ≫ 10 does not affect the ``reionization bump'' of the CMB polarization power spectrum at low multipoles, but affects the temperature and polarization power spectra at high multipoles. Writing the present-day energy density of fields smoothed over the damping scale at the decoupling epoch as ρB,0=B02/2, we constrain B0 as a function of the spectral index, nB. Using the Planck 2013 likelihood code that uses the Planck temperature and lensing data together with the WMAP 9-year polarization data, we find the 95% upper bounds of B0<0.63, 0.39, and 0.18 nG for nB=−2.9, −2.5, and −1.5, respectively. For these spectral indices, the optical depth is dominated by dissipation of the decaying MHD turbulence that occurs shortly after the decoupling epoch. Our limits are stronger than the previous limits ignoring the effects of the fields on ionization history. Inverse Compton scattering of CMB photons off electrons in the heated IGM distorts the thermal spectrum of CMB. Our limits on B0 imply that the y-type distortion from dissipation of fields in the post decoupling era should be smaller than 10−9, 4×10−9, and 10−9, respectively.