And he said there would be no withdrawal agreement bill, or vote, if London can not strike a deal with Brussels.
Lawmakers from both main parties have been pushing for Parliament to have a greater say in the process, with some tabling amendments to government legislation that aim to prevent Britain tumbling out of the trading bloc without a deal. Designed as a concession to the most enthusiastic Brexit supporters in the divided Conservative Party, the proposal would mean there's no way Britain could ask for an extension if talks fail to produce a deal.
"I can now confirm that once we've reached an agreement we will bring forward a specific piece of primary legislation to implement that agreement", Davis told parliament. Davis said the deal will be put to lawmakers as a bill, and he hopes the agreement will be sealed by October 2018, giving time to Parliament in London and the European Parliament in Strasbourg to approve it.
Brexit Secretary announces MPs will have the right to vote down any final Brexit deal.
Ministers are attempting to amend the Withdrawal Bill this week to spell out that Britain's membership of the European Union will formally end at 11pm GMT on March 29 2019.
He said: "It's clear we need to take further steps to provide clarity and certainty both in the negotiations and at home, regarding the implementation of any agreement into United Kingdom law".
Whitehall sources expect a deal to be concluded by October 2018 with the parliamentary votes to follow soon after.
Some MPs welcomed the move, but others said the change in procedure would mean that if Britain failed to negotiate a deal with the EU, Parliament would have no say, and that there would not be time for a proper chance to have sway over a deal.
Labour's Chris Leslie, who supports Open Britain, called it a "sham" - arguing that it was an "eleventh hour" act to save the government from losing votes in the House of Commons.
"For months, Labour has been calling on ministers to guarantee Parliament a final say on the withdrawal agreement", Shadow Brexit Secretary Keir Starmer said.
Britain would leave the European Union without a deal, withdrawing from the bloc on World Trade Organisation rules.
Parliamentary committees will begin scrutinising the Withdrawal Bill on Thursday.
This concession from the government will worry some Brexiteers who fear it could allow MPs to alter the terms of the deal by amending the legislation.
"With less than 24 hours before they had to defend their flawed bill to Parliament they have finally backed down", he said. "They need to accept Labour's amendments that would ensure transitional arrangements, and protect jobs and economy from a cliff-edge".