Mr Johnson called the prime minister's Chequers deal a "fix", said it would not deliver on the 2016 referendum and also accused some members of the cabinet of trying to "stop a proper Brexit" by using the problem of the Northern Ireland Border to keep Britain closely tied to the European Union.
Remain supporter and former Education Secretary Justine Greening said the plan unveiled at Chequers was "now dead", and argued there was "no point having a government spending two vital months working on that" when it should be drafting a new pathway to Brexit.
"Hopefully not beyond November", she said, adding any further delay would greatly increase the risk of the most damaging scenario of a no-deal Brexit.
The former foreign secretary, who resigned from the cabinet in July over Theresa May's Chequers' proposals, claimed many of his former colleagues wanted a "Brexit in name only".
The EU meanwhile aims to grant Britain a transition period until the end of 2020 allowing businesses and others time to adjust to a post-Brexit future.
If she loses the vote Britain could leave the European Union without a deal and possibly force an early election. "So we will be ready for a no deal if we need to be".
"You're not going to turn around said to parliament "Oh, I agreed this, but that wasn't in the national interest" are you?" he told the BBC.More news: US, Canada agreement on NAFTA 2.0 appears to be in reach
"What we need at this time is serious leadership with a serious plan and that's exactly what the country has with this Prime Minister and this Brexit plan". We have suffered catastrophic failure in all four engines and are losing altitude at a rate of 10,000 feet a minute.
Mr Davis added: "We will be under the rule of the European Union with respect to all of our manufactured goods and agri-foods, that's a really serious concession, what about take back control, it doesn't work?"
In a move that may give the markets a measure of reassurance, Bank of England Governor Mark Carney said Tuesday that he was talking to the government about extending his term in office to help oversee a smooth Brexit.
Stephen Gethins, SNP Europe spokesman at Westminster, said: "As the deeply damaging consequences of a "no deal" Brexit become clearer, as Scotland's economy continues to outperform the United Kingdom and as people grow increasingly concerned about the future under Westminster rule, support for Scotland's ability to take its own decisions in an independent country will only grow further".
We have spoken to thousands of our members and asked their views on who should have the final say on Brexit. However, May suffered a new setback Saturday in efforts to unite her fractious Conservative Party around the Chequers plan after an influential Remain-voting former minister who previously backed the proposal announced he now opposed it.
"We have made significant progress, we are making significant progress every week. and a deal is within our sights", he said.
"The government has got six weeks to get this right: more of the same will not do", Sir Keir said.