David Davis has warned MPs against thwarting the "will of the people" by frustrating Britain's exit from the EU as Labour said the Government's Brexit plan had "big gaps".
The Brexit Secretary told the Commons he will introduce the "most straightforward Bill" possible within days to give effect to the "decision of the people" and respect the Supreme Court's judgment.
Mr Davis gave a statement to MPs after judges at the Supreme Court, by a majority of eight to three, rejected the Government's appeal against a High Court judgment blocking its decision to begin Britain's exit from the EU without first seeking Parliament's approval.
But shadow Brexit secretary Sir Keir Starmer slammed the Government's appeal as a "waste of time and money" as he also accused Theresa May of trying to "sideline" Parliament in the run-up to the UK's divorce with Brussels.
A short Bill authorising the invocation of Article 50, with votes in both the Commons and Lords, is expected to be published shortly.
Mr Davis told the Commons: "The purpose of this Bill is simply to give the Government the power to invoke Article 50 and begin the process of leaving the European Union.
"That's what the British people voted for and it's what they would expect.
"Parliament will rightly scrutinise and debate this legislation.
"But I trust no-one will seek to make it a vehicle for attempts to thwart the will of the people or frustrate or delay the process of exiting the European Union."
Sir Keir said the court's judgment was a "good day for parliamentary sovereignty" as he welcomed the fact MPs and peers will have their say.
"Given the issues involved that is quite right and the Prime Minister was wrong to have attempted to sideline Parliament in this process," he said.
Sir Keir called on Mr Davis to ensure MPs can amend the legislation brought forward by the Government.
He said Labour "will not frustrate the process" of triggering Article 50 as he urged ministers to set out their plans in detail in a white paper.
He added it "would be wrong for the Government to try to minimise the role of Parliament or to seek to avoid amendments".
"This is a question of substance, not process," he said.
"Last week the Prime Minister committed herself to swapping the known benefits of single market membership and the customs union for the hoped for benefits of a free trade agreement with a fall back position of breaking our economic model.
"That is high risk and there are big gaps, inconsistencies and unanswered questions in the Prime Minister's approach.
"If the Prime Minister fails in her endeavour the cost will be borne by families, working people and communities throughout the UK. The stakes are high and the role of this House in holding the Prime Minister and the Government to account throughout the process is crucial."
Sir Keir also attacked the Government's decision to appeal against the original High Court judgment as a "waste of time and money".
Mr Davis also pledged to work with the devolved administrations, adding the Government wants to deliver an exit from the EU in the "best interests of the whole of the United Kingdom".
He said: "The Supreme Court has ruled clearly in the Government's favour on roles of devolved legislatures in invoking Article 50.
"But whilst this provides welcome clarity, it in no way diminishes our commitment to work closely with the people and administrations of Wales, Scotland and Northern Ireland as we move forward with our withdrawal from the European Union."
Prime Minister Theresa May and Labour leader Jeremy Corbyn were present in the Commons for the statement from Mr Davis.
Mr Davis said Mrs May's recent speech in which she set out the Government's Brexit plan was the "epitome of clarity".
He also rejected the idea the Prime Minister was trying to minimise the involvement of MPs in the Brexit process.
"The Prime Minister was not aiming to sideline democracy, she was aiming to carry out the will of the people," he said.
Stephen Gethins, the SNP's Europe spokesman, sought assurances from Mr Davis that Holyrood will not lose powers as a result of Brexit.
He asked: "Will the Secretary of State tell us today that no powers will be returned from the Scottish parliament to Westminster during the course of this process and will he seek consent from the Scottish parliament before legislating on areas over which it has responsibility?"
Mr Davis said: "I'm a devolutionist and I can say to you firmly that there will be no powers existing in the devolved administrations that have got to come back but there will be powers that will come from the European Union which we have to decide where they will most properly land, whether it's Westminster, Holyrood or wherever."
Labour's Hilary Benn, chairman of the Exiting the EU Committee, asked Mr Davis to publish a white paper on the Government's Brexit objectives so they can be considered by MPs.
He added to Mr Davis: "Because if the Government does not do so then... it'll be showing a lack of respect for this House of Commons."
Mr Davis insisted the Commons will be kept "as well informed" on Brexit as anything else of such importance.
Conservative former minister John Redwood said: "If someone votes against sending the Article 50 letter, aren't they voting against restoring the very parliamentary sovereignty they called in aid?
"Don't the British people want a proper Parliament, not a puppet Parliament answering to Brussels, and doesn't that require sending the letter soon?"
Mr Davis replied: "What it requires is leaving the European Union and that's what we're going to do."
Brexit-backer and Labour former minister Kate Hoey said: "The public wants us to get on with this and actually carry out what they voted for."
She also said: "The public will not look lightly on amendments that are being brought in, particularly by parties that actually want another referendum, to delay unnecessarily - but do want perhaps amendments that do clarify and make us all more aware of the Government's intentions."
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