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Britain is very close to agreeing the details of an implementation period with the European Union for its transition out of the bloc, junior Brexit minister Robin Walker said on Monday.

European Union chief Jean-Claude Juncker warned that Britain will "regret" Brexit today as he drew battle lines for trade negotiations.

"We need to receive specific proposals from the U.K.", Juncker told a plenary session of the Parliament in Strasbourg during a speech to MEPs in which he repeated his demand for "clarity" from the British government.

Carmakers have fired yet another warning to prime minister Theresa May as the reality of Brexit begins to sink in.

Mr Juncker also caused fury among British MEPs as he used a speech at the European Parliament to claim that the Irish border was a "European issue".

May, but mainly repeating the red lines that we've already known for two years", said Guy Verhofstadt, representative of the European Parliament for Brexit, "the problem is today we don't have a proposal from the United Kingdom side on the future relationship.

"I fully respect the Chancellor's competence in defining what is in the UK's interest but he must allow us to define what is in the EU's interest", he said.

In her Mansion House speech on March 2, May said it was time to face the "hard facts" of Brexit.

Barnier lauded the rules the European Union created together with Britain for 44 years to create the "social market economy" that shelters citizens and workers from excesses of deregulation.

'I would rather have preferred Britain not to have made a decision to leave the European Union, but anyone who leaves the European Union has to know, frankly, what this means, ' he said.

"It is not crystal clear how a potential exclusion process will function", European Commision Vice President Jyrki Katainen told a news conference, saying he had discussed the issue with France and Japan. Do you accept that, or do you then put in a guard to stop them doing that.

"But the idea of a customs union should not just be discarded, because from an economic point of view a free trade agreement does not go far enough", he added.

His European Parliament motion calls for an "association agreement" to deal with the future UK-EU relationship.

Britain would be free to impose some new sanctions, for example denying entry to Russian individuals, but would be very limited in its ability to, say, bar more Russian imports as European Union trade policy is centralised in Brussels and will remain so, probably, for a couple years after Brexit in March 2019.