David Davis has brushed aside calls for the Government to publish its formal Brexit plan within days and ahead of crucial Commons votes.
Labour warned ministers against offering a "cut and paste" of Theresa May's Lancaster House speech, in which she outlined her 12-point plan for Brexit, in its promised White Paper.
Brexit Secretary Mr Davis said the document will be produced "as quickly as possible", adding Mrs May has answered all the questions posed other than those which would undermine Britain's negotiating position.
Several MPs want clarity on when the Government will produce its White Paper, with Labour and the SNP suggesting it should appear before committee stage of the European Union (Notification of Withdrawal) Bill.
This legislation paves the way for the Prime Minister to start the formal process of Britain's withdrawal from the EU by allowing the triggering of Article 50 of the Lisbon Treaty.
It is expected to be rushed through both Houses of Parliament within weeks to meet the Government's deadline for starting withdrawal by the end of March.
Speaking in the Commons, shadow Brexit minister Jenny Chapman said: "I'm concerned by some of the responses from the secretary of state, who seems to be bursting with enthusiasm about this White Paper - now it seems we may not get it as soon as we need it.
"Given the level of interest in the legislation and the amendments that are going to be tabled, we need this White Paper before committee stage of this Bill.
"Will you make sure we get it?"
Mr Davis replied: "How do you deal with an Opposition that won't take yes for an answer, really?
"I've said we will produce it as expeditiously as possible, as quickly as possible. What can you do faster than that?"
Ms Chapman said: "Well, you can work as fast you can I suppose, but we do need it before committee stage.
"When we get it, will it be a cut and paste of the Prime Minister's speech or instead will we have assessments of the financial impact on this country of different options?"
Mr Davis labelled Mrs May's speech "one of the clearest expositions in national policy" he has heard for "many, many years".
He said: "(It) answered all of the questions that the Opposition and Brexit Committee raised - other than those which would actively undermine our negotiating position.
"The Opposition put up a motion which actually said, 'We will not undermine our negotiating position'.
"It's quite right that they expect us to obey the rules of the House, but they should do so too."
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