Boris Johnson has set out his red lines for a Brexit deal at a make-or-break dinner in Brussels, after EU leaders told their parliaments the negotiations were “on a precipice”.

Flanked by his chief negotiator and senior aides, the prime minister told the European commission president, Ursula von der Leyen, and the bloc’s chief negotiator, Michel Barnier, that he could not accept terms in a treaty that would tie Britain to EU rules.