Junior Brexit Minister David Jones told the House of Commons the vote will cover both leaving the EU and Britain’s future relationship with the bloc.
Critics, however, said the government was holding a gun to the head of MPs and the vote was not "meaningful".
Former Scottish First Minister Alex Salmond said the vote constituted a "metaphorical gun to the head".
This was followed by Remainer David Lammy MP also condemning the vote, which he said was simply a case of accepting Theresa May's terms or exiting the EU under disastroust World Trade Organisation (WTO) regulations.
He Tweeted: "Govnt confirms that vote in Parliament will be between the Govnt's deal or no deal. That is NOT a meaningful vote. WTO rules = disastrous."
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The Government has repeatedly from this dispatch box committed to a vote on the final deal, a vote in both Houses before that deal comes into force
Junior Brexit Minister David Jones
Mr Jones announced to a surprised House of Commons this afternoon: “We intend that the vote will cover not only the withdrawal but also the future relationship with the EU.
“I can confirm the Government will bring forward a motion on the final agreement to both Houses before it is concluded and we intend for this to happen before the European Parliament debates and votes on the final agreement."
The move can be seen as an attempt by ministers to offer a concession to would-be rebel Conservatives by offering MPs a vote on the final Brexit deal "before it is concluded".
Brexit Minister David Jones revealed both Houses will get a vote on the final Brexit deal
As the House reacted to the Government's concession, Mr Jones said: “The Government has repeatedly from this dispatch box committed to a vote on the final deal, a vote in both Houses before that deal comes into force.
"This I repeat and confirm will cover not only the withdrawal agreement but future arrangement we propose with the EU.
“I can confirm again that the Government will bring forward a motion on the final agreement to be approve by both Houses before it is concluded and we expect and intend that this will happen before the European Parliament votes debates and votes on the final agreement.”
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Shadow Brexit secretary Keir Starmer welcomed Mr Jones' statement
Mr Jones said he believes the Government is proposing a meaningful vote for Parliament on any Brexit deal.
He added he cannot think of a greater signal of weakness than Parliament sending Government back to the EU for further negotiations if Parliament rejects the Brexit deal.
Some Tories were threatening to join forces with opposition MPs over the issue during the committee stage of the EU (Notification Of Withdrawal) Bill because they were worried about quitting the EU without an agreement, with potentially serious consequences for the economy.
It comes as Jeremy Corbyn orders Labour MPs to back the Bill in its final House of Commons stage on Wednesday, paving the way for Theresa May to trigger the formal exit process.
A Labour source said Mr Corbyn is is imposing a three-line whip on his MPs in a move which risks the resignation of high-profile shadow cabinet ministers like Clive Lewis.
The move to vote for the European Union (Notification of Withdrawal) Bill at third reading, its final Commons stage, was agreed by the shadow cabinet this morning, the source said.
Mr Jones said he believes the Government is proposing a meaningful vote for Parliament
Shadow Brexit secretary Keir Starmer clashed with SNP MP Pete Wishart over the amendments.
Mr Wishart, MP for Perth and North Perthshire. “Is it the case that if all amendments are rejected by the Government, the Labour Party are simply going to endorse the third reading vote and support the government.
"What is the point therefore of making all this case for these amendments if you supinely just cave into what Government want on Article 50.”
Mr Starmer said: “I’m not sure how helpful interventions like that are to a debate which is actually really important about the scrutiny and accountability.
“Just to be clear nagging away, pushing votes and making the argument over three months we have got a White Paper and it is important. We have got reports about reporting back.
Theresa May's Brexit plan Mon, January 16, 2017
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Continued cooperation with the EU to tackle terrorism and international crime.
“We have got a commitment to the vote at the end of the exercise. When the charge is levelled at the opposition that they have not made the case for scrutiny and accountability that does not match what has happened over the last three months.”
As the Bill enters its second day of the Committee stage, MPs are expected to spend seven hours discussing amendments.
The first day of committee stage ended on Monday following three votes on amendments, which the Government defeated.
MP rejected a Labour amendment to the Bill calling for updates on the Brexit talks to be provided at least every two months.
The amendment, proposed by Labour leader Jeremy Corbyn, was defeated by 333 votes to 284, majority 49.
Just one Tory MP, former chancellor Ken Clarke, rebelled against the Government and voted in favour of Labour's new clause.
More to follow…
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