Instead, he said government negotiators will also seek a free trade agreement with European markets, forging a new strategic partnership with the EU, including a bold and ambitious free trade agreement and mutually beneficial new customs agreement.

Beyond the EU, the government wants to forge ambitious free trade agreements with other countries across the world.

Davis said the British government wanted the EU to succeed, politically and economically. He added that while Britain cannot sign new trade deals until after Brexit, the country can and is preparing the ground for them.

"This means updating the terms of our membership of the World Trade Organization," he said.

Sir Keir Starmer, Labour's Shadow Brexit Secretary, described the white paper as a "wish list rather than an action plan."

He said: "For months they have refused to publish a plan or allow proper scrutiny, and when they are finally forced to produce a White Paper, it is rushed, limited and not well thought through."

One of Britain's biggest trade unions, the GMB described the white paper as "bordering on a fairy tale."

Carolyn Fairbairn, director general of the Confederation of British Industry, said later that Britain falling back on World Trade Organization rules would be damaging. She said the pressure was on for the government to deliver the best possible deal, as well as a smooth and orderly Brexit.

Political observers say despite political battles, May is expected to beat off challenges to trigger Article 50 next month.