MPs signalled they would back Theresa May's timetable to leave the European Union after a last minute concession that she would publish her plan for Brexit first.

A significant majority of 448 MPs voted to formally start EU withdrawal no later than the end of March 2017, with 75 opposing the motion.

Faced with a revolt by up to 40 Tory MPs, the Prime Minister on Tuesday backed a Labour motion which said she should publish her plan before triggering the formal process of leaving.

In return, most of the rebels and Labour backed a compromise Government amendment to support Mrs May's pledge to invoke Article 50 to start Brexit by April.

MPs from across the House of Commons spoke during long debate. The UK Independence Party's only MP Douglas Carswell - the MP for Clacton - claimed 'some politicians' approach to Brexit over the past few months had been to regard it almost as though the people made a mistake on June 23.

'They seem to hold out the hope that we might perhaps have a second referendum and, who knows, presumably assemble a new people.

'Perhaps if these efforts to subvert the outcome of that referendum persist, we would find it easier to assemble a new Parliament.'

Mr Carswell said it was 'perverse' to use concerns over sovereignty to delay the triggering of Article 50, adding that Labour had once again sided with 'the supranational elites'.

He said: 'They're out to try to frustrate and overturn the way people voted in June.'

Veteran europhile Ken Clarke has led Tory calls for the Government to give MPs a vote on its negotiating strategy before triggering formal Brexit talks.

The former chancellor said the existing commitment from ministers to publish a Brexit plan is 'extremely vague', adding the 'strategic objectives' should be outlined in a document.

Mr Clarke suggested this should then require the approval of the Commons before Prime Minister Theresa May can begin the formal talks to leave the EU.

Brexit Secretary David Davis claimed Mr Clarke's comments were an indication that he did not agree with the result of June's referendum.

The exchanges came after Labour said it will not accept a 'late, vague plan' for Brexit ahead of voting to trigger Article 50

Shadow Brexit secretary Sir Keir Starmer said the Government must publish its outline for Brexit well ahead of any vote, to allow any amendments to be considered from both sides of the House.

But he was forced to insist Labour did not intend to delay the process beyond the end of March, amid pressure from a number of Tory MPs.

Sir Keir also faced accusations from Green Party co-leader Caroline Lucas of 'falling into a Tory trap' by supporting the Government amendment to the Labour motion calling for a Brexit plan to be published.