Brexit Secretary David Davis has confirmed that MPs will be given a binding vote on the proposed EU withdrawal bill.
The announcement comes as MPs are tabling their amendments to the EU withdrawal bill.
Davis said: "We have always said we will do whatever is necessary to prepare for our exit, including bringing forward further legislation, and that is exactly what we are doing.
"This is another important step that demonstrates our pragmatic approach to getting our house in order as we leave the EU.
"By announcing this bill, we are providing clarity and certainty – both in the negotiations and at home - about the final agreement being put into UK law.
"As we move forward, we stand ready to work with MPs from across the House to ensure a smooth, and orderly exit from the EU that is effectively scrutinised by Parliament."
Shadow Brexit Secretary Keir Starmer said it was "a significant climbdown from a weak government on the verge of defeat".
He said: "For months, Labour has been calling on ministers to guarantee Parliament a final say on the withdrawal agreement.
“With less than 24 hours before they had to defend their flawed bill to Parliament they have finally backed down.
“However, like everything with this government the devil will be in the detail.
"Ministers must now go further. They need to accept Labour’s amendments that would ensure transitional arrangements, and protect jobs and the economy from a cliff edge."
Lib Dem Brexit spokesman Tom Brake said: "A parliamentary vote simply isn’t good enough.
“The people voted to leave the EU, they should get to decide whether to accept the deal the Government has negotiated.
"If they reject the Government's Brexit deal, they must have the option to stay in the EU."