The Brexit motion approved on December 14 did not get the full support of Conservative MEPs because of Mr Verhofstadt's perceived role in drafting the text.

Mr Fox said: "We voted in favour specifically of the paragraph that called for trade talks.

"But It was full of a full load of nonsense put in by Mr Verhofstadt who is trying to impose his agenda on phase 2 of the talks.

"That is not the purpose of the European Parliament."

Despite the tension with the European Parliament (EP) Brexit coordinator, Mr Fox said he was satisfied with the results of the first phase of Brexit negotiations.

Speaking to BBC Daily Politics, the Tory MEP said: "These are the most difficult negotiations that have been undertaken by the United Kingdom since the end of the Second World War.

"Mrs May showed herself to be a formidable negotiator and we reached an equitable compromise."

The leaders of the remaining 27 European Union members have announced they are pleased that "sufficient progress" has been made in Brexit talks and we can now move on to the second phase.

EU Council President Donald Tusk confirmed the news on Friday lunchtime, congratulating the Prime Minister as he confirmed the EU leaders were happy with the progress made.

Mr Tusk has said a full Brexit deal by March 2019, the planned departure date, is "realistic but "dramatically difficult".

Prime Minister Theresa May was applauded by her European counterparts at a Brussels dinner on December 14 after German Chancellor Angela Merkel thanked her for her efforts in Brexit talks.

The Prime Minister flew to Brussels in early December to secure a last-minute deal with EU Commission leader Jean-Claude Juncker.

The EU still wants more detail from Britain about her vision for the end state of Brexit talks but trade talks now appear to be on the horizon.