Parliament will get a vote on the final Brexit deal before the UK leaves the EU, minister David Davis has told MPs.
He said the terms of the UK's exit, including details on money, citizen rights and any transition would have to become law via a new Act of Parliament.
While any deal "will only hold" if MPs approve it, he said it would not alter the fact the UK was leaving the EU.
Labour welcomed the "climbdown" but some MPs queried whether any vote on a last-minute deal could be "meaningful".
The BBC's political editor Laura Kuenssberg said the announcement was significant because it represented a big concession to potential Tory rebels and Labour MPs at a highly important moment in the Brexit process.
It comes as MPs prepare to debate key Brexit legislation later this week with the government facing possible defeat on aspects of the EU Withdrawal Bill, which will convert EU law into UK law.
The UK is due to leave the EU in March 2019, irrespective of whether MPs back or reject the terms of the deal negotiated by Theresa May's government.
But updating MPs on the sixth round of talks which concluded on Friday, Mr Davis told MPs they would still play a major role and "there cannot be any doubt that Parliament will be intimately involved at every stage".
The government had previously agreed to give MPs a vote on a Commons motion relating to the final Brexit deal - before it has been voted upon by the European Parliament.