David Davis, who was appointed by Britain's Prime Minister Theresa May to oversee the negotiations on Brexit, also told the parliament that it is in the interests of both Britain and the EU that they have "the freest possible trading relations".
"We do not see Brexit as ending our relationship with Europe," he said. "It is about starting a new one," Xinhua news agency quoted him as saying.
The minister's comments came as he and other members of parliaments debated a public petition calling for a second Brexit referendum which has so far attracted more than 4.1 million signatures.
Davis said that securing a deal that is in Britain's national interest does not and must not mean turning its back on Europe.
"We want a strong EU, succeeding economically and politically, working with Britain in many areas of common interest," he added.
