Labour will seek tariff-free trade with the European Union if it wins with no new non-tariff barriers on trade, regulatory alignment and continued competitiveness in goods and services.
"Of course, any Labour government would negotiate the liabilities on behalf of our people on behalf of our country", he told a press conference in Westminster, London.
He said: "The four nations that make up our great country have rarely been more divided due to the damaging and divisive policies of this Conservative government but where Theresa May divides, Labour will unite our four nations".
Labour would reset the "failing approach to Brexit" taken by May's Conservative government, Keir Starmer, Labour's shadow Brexit minister, said in a campaign speech.
Starmer rejected claims the Tories have a "clear" approach to Brexit and said they only offered a "rigid approach, a reckless approach".
FILE - Britain's opposition Labour Party leader Jeremy Corbyn in London, Jan. 15, 2017.
He was referring to the Tories' approach of leaving all EU-related agencies, which he described as contrary to any sensible negotiation - when each side seeks to keep their options open.
"What we've seen today from Labour is, I think, their seventh Brexit plan".
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"It is extraordinary that we have a Prime Minister who has given up on the Single Market and the Customs Union even before negotiations have begun and it was received very badly by our EU partners".
Preparing to start two years of negotiations with the other 27 European Union countries, May has made clear her approach to Brexit is to leave the EU's single market - based on free movement of goods, services, people and capital - and escape the jurisdiction of its courts.
Mr Davis did, however, welcome the announcement, he added: "This is the first time that we've heard this clarity on free movement, unfortunately for both Jeremy Corbyn and Keir Starmer, many on the Labour front bench don't agree with it".
"Where jobs, the economy and retaining the benefits of the single market and the customs union are our priority".
Mr Corbyn called for unity and challenged sections of the media and the Establishment for dismissing the election as a foregone conclusion, saying that "the politics and policies of Labour are needed now more than ever as our country becomes more unfair, more unjust and more unequal".
Labour would also replace the Conservatives' "great repeal bill", created to bring EU laws onto the United Kingdom books, with an "EU Rights and Protections Bill".
With national opinion polls giving her a lead of around 20 percentage points over Labour, May looks set to get a large majority in parliament, easing passage of the dozens of laws needed to extract Britain from the EU. It was cited by 37 per cent, compared to just 22 per cent who cite lack of innovation and only nine per cent say a changing market was a hindrance to growth.