Backbenchers threatened to derail the Prime Ministers' timetable for leaving the bloc by forcing further parliamentary votes on details of any departure deal agreed with Brussels.
But the revolt crumbled after the Government promised that MPs will get a chance to vote on the expected deal before the European Parliament has a say.
The attempt to tamper with Theresa May's Brexit plans was rejected in the Commons by 326 votes to 293 today, a majority of 33.
Desperate backbencher Tories were struck down in the House of Commons
Ministers had been braced for a knife-edge vote with up to 30 Tories threatening to side with Labour, Lib Dems and SNP MPs over a series of key amendments to the Government's EU (Notification of Withdrawal) Bill.
After a series of tense clashes in the Commons, only seven Tories voted for the amendments.
The votes last night set the stage for the crunch Third Reading vote on the measure in the Commons on Wednesday, the final stage before the legislation goes to the House of Lords.
During the debate, Tory EU Exit minister David Jones sought to take the heat out of the threatened Tory revolt by insisting that MPs would get a vote on any exit deal "before it is concluded".
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He also made clear for the first time that MPs at Westminster would give their verdict on the expected EU departure deal before MEPs in the European Parliament.
Mr Jones told the Commons: "First of all we intend the vote will cover not only the withdrawal arrangements but also the future relationship with the European Union.
"Furthermore, I can confirm that the Government will bring forward a motion on the final agreement to be approved by both houses of Parliament before it is concluded and we expect and intend that this will happen before the European Parliament debates and votes on the final agreement."
He added: "I have, on behalf of the Government, made what I believe is a serious commitment.
Labour MP Chris Leslie said the government proposed a disappointing offer
"I believe it should be accepted as such. Frankly, in those circumstances, I see no need for a further amendment."
I feel like sometimes I am sitting along with colleagues who are like jihadis in their support for a hard Brexit."
Claire Perry, Former minister
His offer sparked an angry row about whether the Government had given a concession to rebels.
Ministers rejected claims from Labour that they had caved in to demands for an earlier vote, insisting they were simply clarifying their plans.
The opposition amendment, tabled by Labour MP Chris Leslie, had also stated the consent of Parliament would be required before the deal is referred to the European Council and European Parliament.
Mr Leslie described the Government's offer as "extremely disappointing".
One Tory MP compared Brexiteers to jihadis
He said: "That is not what I would regard as in the spirit of the concession that should be sought.
"We were not just looking for a concession on the timing of that parliamentary vote, but on the scope of that vote.
"In other words, the circumstances in which, having gone through the negotiation, we would find ourselves being able to vote."
In angry scenes in the Commons, one Tory rebel accused hard-line Brexit supporters of behaving like "jihadis".
Former minister Claire Perry said: "I have to say that the tone of this debate – and we have heard a little bit, although it is starting to calm down – sometimes borders on the hysterical.
"I feel like sometimes I am sitting along with colleagues who are like jihadis in their support for a hard Brexit."
But senior Tory Sir William Cash, chairman of the Commons EU Scrutiny Committee, accused MPs backing amendments the Bill of a "shameful" attempt to delay and sabotage Brexit.
He said: "They know perfectly well what they are doing.
"They are trying to delay, to obstruct and to prevent the Bill from going through, and I say – Shame on you!”
Tory MP Charlie Elphicke warned Remainer MPs: "The British people have voted. We have to leave the European Union and implement the will of the British people."
MPs were accused of trying to derail and slowdown the Brexit process
Former Tory minister Dominic Grieve dropped a threat to vote against the Government after Mr Jones's clarification.
Mr Grieve told MPs: "I had a role in trying to see how the Government could provide some assurance about the process.
"It is not perfect but it is a very significant step forward from what had been said previously. To my mind, it has provided helpful clarification."
Former Tory minister Nicholas Boles voted came to the Commons to vote despite undergoing intense cancer treatment.
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Issued by the Supreme Court of (top row, from the left) Lord Neuberger, Lord Mance, Lord Kerr, Lord Sumption, (bottom row, from the left) Lady Hale, Lord Clarke, Lord Wilson and Lord Hodge, who agreed with the majority decision that the Government could not trigger Article 50 without Parliamentary approval.
The MP, who voted to Remain in the EU in last year's referendum, backed the Government to block Mr Leslie's amendment.
Mr Boles posted the news on his Twitter account along with a picture of him wearing a blue medical face mask while sat in a wheelchair.
The Tory MP published a statement on Facebook outlining his decision.
He said: "Today, on my own initiative, I am coming out of hospital to support the Government on the Article 50 bill.
Kenneth Clarke was one of the rebel conservative MPs
"I have spent the last week receiving my third round of chemotherapy for the cancer that was discovered last October.
"I feel pretty grim and will have to go back to hospital after I have voted.
"But I want to come to Parliament to represent my constituents on this important bill and do my bit to ensure that it is passed without amendment."
The seven Tory rebels were former chancellor Kenneth Clarke and backbenchers Ms Perry, Bob Neill, Andrew Tyrie, Anna Soubry, Antoinette Sandbach and Heidi Allen.
The Tory rebels were joined by Labour MPs and the SNP, as well as other parties
The Tory rebels were joined in the aye lobby by 210 Labour MPs, 54 SNP MPs, nine Liberal Democrats, four independents, three Plaid Cymru, three Social Democratic and Labour Party, two Ulster Unionist Party MPs and Green Party co-leader Caroline Lucas.
A Downing Street spokesman said that Mr Jones was merely clarifying the timing of the vote promised to MPs by Mrs May in last month's Lancaster House speech.
"What the amendment is asking for we have already committed to," said the spokesman.