'The bill is expected to cover the contents of the withdrawal agreement, including issues such as an agreement on citizens' rights, any financial settlement and the details of an implementation period agreed between both sides.
Heidi Allen, a Tory rebel, tweeted that a fresh Bill would be "pointless" if MPs also back Theresa May's plan to put the exact date and time of withdrawal in legislation.
"For months, Labour has been calling on ministers to guarantee parliament a final say on the withdrawal agreement". Before Remainers get the prosecco out, it's worth noting that Davis said in the event of a "no deal" scenario, MPs and peers would not have any vote as there would not be anything to have a bill based on.
He added: "This confirms that the major policy set out in the withdrawal agreement will be directly implemented into United Kingdom law by primary legislation, not by secondary legislation with the Withdrawal Bill".
Shadow Brexit Secretary Kier Starmer said that "This is a significant climb down from a weak Government on the verge of defeat".
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".
"It's a transparent and fairly desperate attempt at the eleventh hour to save face and avoid losing votes in the House".More news: European Union states sign key pact to boost defence cooperation
What had ministers previously proposed?
However, despite making the major concession a day ahead of a mammoth eight-day Brexit debate on the European Union withdrawal bill, the government would not yet grant a vote in the event of no deal being agreed.
To implement Brexit through a clause of the so-called Repeal Bill, the EU (Withdrawal) Bill.
It had also been argued that withdrawal had to be enshrined in a separate Act to make it waterproof from legal challenge.
Liberal Democrat Brexit spokesperson Tom Brake said a parliamentary vote "simply isn't good enough" as he repeated his party's call for a second European Union referendum on the terms of a Brexit deal.
What if it was voted down? The government wants to set in law the day that Britain leaves the bloc, ruling out the possibility of seeking an extension to talks if more time is needed to reach a deal. Once the committee stage is complete, the bill will go through a report stage to consider the amendments, before it's passed to the House of Lords.
Former Tory minister John Penrose said: "If they can agree to this level of Parliamentary scrutiny for the Act of Brexit then, logically, they should also be willing to accept limits on their Henry the Eighth powers, too".