Tory former minister Anna Soubry added the new piece of legislation will only apply if there is an agreement.
In a major concession by the government, MPs and peers will get to debate and vote on a special bill setting out all the terms of Brexit including the transition period and key issues like citizens' rights when they are finally agreed. David Davis also said if the United Kingdom and European Union can't agree a withdrawal deal, there will simply be no withdrawal deal bill; the United Kingdom is still on track to leave the European Union whether the deal is approved or not.
"This also means that Parliament will be given time to debate, scrutinise and vote on the final agreement we strike with the EU".
But the Government's beefed-up promise for a parliamentary vote did not dispel concerns surrounding the EU Withdrawal Bill.
She asked Mr Davis: "Can you confirm in the event of no agreement - no deal - this place will have no say, and we will leave on that date, because it's on the face of the Bill, without any say from this supposedly sovereign Parliament which voted to take back control?" Primary legislation means making law by acts of parliament or statute.
Pro-EU Labour MP and Open Britain campaign supporter Chris Leslie said: "What could have been a very welcome concession by the Government instead looks like a sham that pretends to respect the sovereignty of Parliament but falls well short of what is required".
Dominic Grieve, the Tory former attorney general who has tabled a series of amendments to the EU Withdrawal Bill, said the controversial clause nine in that Bill was now redundant.
Keir Starmer, the shadow Brexit secretary, said the Tories had performed a "significant climbdown" after David Davis, his opposite number in government, announced there would be a binding vote on any deal.
"Clearly this is an attempt to see off amendments that go much further than David Davis on a "meaningful vote" - it is vital the EU Withdrawal Bill is amended to provide for a proper not a fake meaningful vote before any exit day".
"Parliament could do nothing at all to shape the nature of that withdrawal agreement". Surely such a tactic would weaken the government's hand.
"He gave no guarantee of a meaningful vote before 29 March 2019 and this doesn't cover the event of there being no deal", he wrote on Twitter.
In a bid to keep both Brexiteers and Remainers on side, Davis ended his appearance at the despatch box by describing the vote as "a meaningful vote, but not one that can undo Brexit".
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