The SNP's Westminster leader Ian Blackford said the PM had suffered a "historic and humiliating defeat" and should now call for a second referendum.
The MP for Ross, Skye and Lochaber claimed the EU had ruled out renegotiating Mrs May's deal and asked: "If the Prime Minister survives today to bring forward her 'plan B', will she concede that 'plan B' will basically be a redressing of 'plan A'?"
READ MORE: PMQs as it happened: Theresa May faces questions from MPs before no-confidence vote
She responded that her plan was to "listen to Parliamentarians and find out what is it that would secure the backing of this House".
Mr Blackford said the PM "simply didn't address the question", saying she has "failed" and that "Westminster is in chaos".
He said Mrs May "must now seek the confidence of the people, not just this House, extend Article 50 and ask the people if they want the Prime Minister's deal or remain in the EU."
After adding that she "must legislate for a people's vote", Mrs May hit back, saying: "This House legislated for a people's vote, it legislated for a people's vote that was held in 2016, and that vote determined the UK should leave the European Union."
Theresa May later warned MPs that if Brexit was not delivered the reputation of politicians in the UK would "be at an all-time low".
READ MORE: Jeremy Corbyn accuses Theresa May of being "in denial" of heavy Brexit deal defeat
Mrs May, in response to a question from Tory former minister Helen Grant, said: "I do believe that if we fail to deliver on what the British people instructed us to do in the vote of the referendum that the views of the British people of this House of Parliament and of politicians will be at an all time low.
"They will have lost faith in politicians across the whole of this Parliament, we need to deliver Brexit for the British people."
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