Boris Johnson says his plan for Brexit would "honour the referendum".
Addressing the Commons for the first time since his proposals were submitted to the EU, the prime minister said he had always wanted to leave with a deal.
But these plans showed a "seriousness of purpose".
"It has not delivered everything we wished," says Mr Johnson.
"But it is a genuine attempt to bridge the chasm."
Mr Johnson says the previous withdrawal agreement "would have permanently anchored the UK within the orbit of EU regulation and customs arrangements".
He tells MPs this government has a "different vision".
"We have shown great flexibility," he says.
"If our EU neighbours chose not to show corresponding willingness to reach a deal then we will leave on 31 October.
"It will be a failure of statecraft which all parties would be responsible."
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