UK politics - as it happened: House of Commons suspended as Theresa May's new Brexit plan published in chaotic scenes

Dominic Raab apologises for the late arrival of the white paper and says he will ensure it doesn't happen again.

He reminds Starmer that both parties stood on a manifesto that promised to leave the EU and also hits back at criticism from Labour over disunity in Tory ranks, pointing out that there have been 103 resignations from their front bench.

Of course I agree with the white paper, he says, and says it is part of the negotiations.

Free movement will end, he adds.

Tory Brexiteer Iain Duncan Smith says he has "deep misgivings" over what the government is proposing.

"Having voted to leave, I voted to leave, not to half leave."

Raab seeks to reassure him - 'Free movement will end'.

 Chief EU negotiator tweets:

Veteran Eurosceptic Bill Cash tells MPs he is also 'deeply worried' by the plans.

Former Brexit minister Steve Baker also stands up to criticise the plan, asking how Raab thinks he can negotiate this when the EU when it goes against parts of the European Communities Act.

Raab says there is no off-the-shelf model that would work.

Jacob Rees-Mogg, who chairs the pro-Brexit European Research Group, said it was “the greatest vassalage since King John paid homage to Phillip II at Le Goulet in 1200”.

In a statement, he said: "This white paper has not needed age to turn yellow. There are very few signs of the prime minister’s famous red lines.

"It is a pale imitation of the paper prepared by David Davis, a bad deal for Britain. It is not be something I would vote for nor is it what the British people voted for."

Adam Marshall, director general of the British Chambers of Commerce, said: "At last, businesses have a more comprehensive understanding of the Government's aspirations for the UK's future relationship with the European Union.

"This vision should not have taken two years and three weeks to emerge, but it is nevertheless a welcome starting point for businesses.

"Momentum and pace are now needed to translate ambition into answers to the real-world, practical questions that businesses face.

"Even with the welcome direction of travel in the white paper, companies still don't know how they'll be paying VAT, how they can move people between offices or whether goods will get across borders with a minimum of fuss. It is incumbent on the two sides to work pragmatically and productively on the nuts-and-bolts detail of the future relationship over the coming weeks, drawing on business experience and expertise.

"Time is short - and for businesses it's results that count."

Reports suggest government whips are asking unhappy MPs to withdraw letters calling for a vote of no confidence in Theresa May... 48 letters are needed to trigger a contest, and No 10 fears critics of the prime minister could be close to reaching the threshold...

The Scottish Government says the Brexit white paper offers "little reassurance" on what the impact of leaving the EU will be.

Culture, Tourism and External Affairs secretary Fiona Hyslop said: "Quite simply, these plans fall short and will harm our economy.

"As with the Chequers agreement, there is some evidence that the UK Government now realises the damage of leaving the EU, as well as the benefits that being in the EU, the Single Market and Custom Union has brought to the whole of the UK. Nevertheless, there is still a long way to go before those risks are mitigated."