The government has released its Brexit White Paper, which outlines ministers’ aims in the upcoming negotiations on Britain’s withdrawal from the EU.

The White Paper was promised after MPs voted to allow the government to begin Brexit negotiations on Wednesday, though SNP, Plaid Cymru and Lib Dem MPs voted against the move, and Labour has pledged to change the government’s tack with amendments to the new European Union Bill.

The government White Paper mirrors PM Theresa May’s speech on Brexit given at Lancaster House last month. The government will be seeking a new trade deal, with as few restrictions as possible, but without concessions on freedom of movement or legislative control from EU bodies.

The 77 page paper confirms that the UK will leave the EU single market, but promises that the government will set out to establish a new, similar trade relationship. The paper says, “Unlike other trade negotiations, this is not about bringing two divergent systems together… The UK already has… a common regulatory framework with the EU Single Market.”

It also promises a separate White Paper on the Great Repeal Bill, which will transpose EU law into UK law “wherever practical and appropriate”. Environmentalists have expressed fears about this bill, as Defra Secretary Andrea Leadsom has acknowledged that around a third of existing environment law won’t be suitable for directly shifting across into British law, meaning uncertainty remains about what post-Brexit legislation in this key area will look like.

Commenting on the paper’s publication on Thursday, Brexit secretary David Davies said, “The White Paper confirms the Prime Minister’s vision of an independent, truly global UK and an ambitious future relationship with the EU. This is based on the 12 principles that will guide the government in fulfilling the democratic will of the people of the UK.”

However, Labour’s shadow Brexit secretary Keir Starmer said the White Paper appeared ill thought through (an apparent typo in the paper suggests Britons will be entitled to 14 weeks paid holiday a year after Brexit) and doesn’t address the situation faced by British citizens living in the EU. Starmer said, “The white paper offers no certainty for EU citizens living in the UK, no additional detail on how workers’ and consumer rights will be protected, and nothing on how full tariff-free access to the single market will be delivered. It’s a wish list, not an action plan.”

The Shadow Brexit secretary said Labour would act to guarantee oversight of the Brexit process, after Labour MPs voted to allow the Conservative government to begin the Brexit process. Labour has pledged to push through amendments to the Article 50 Bill and ensure that Parliament can vote on the final deal before it is presented to European lawmakers.

The White Paper also attracted the ire of trade union leaders, who criticised the lack of detail and new information, especially on projected impacts on jobs and standards of living as a result of the process. GMB general secretary Tim Roache went so far as to say,“Today’s white paper borders on a fairy tale… Either [ministers] have no idea what they are doing and are playing fast and loose with people’s livelihoods – or the truth is too awful to share with the public.”

The brief agriculture section in the White Paper notes that the UK is a net importer of agri-food goods, and states that leaving the Common Agriculture Policy will mean savings and the chance to develop new agri-environment strategies for the government. The Paper says Brexit “offers the UK a significant opportunity to design new, better and more efficient policies for delivering sustainable and productive farming, land management and rural communities.”

Commenting on the government’s promise to harmonise environment law, Friends of the Earth campaigner Samuel Lowe said, “The commitment to bring current environmental regulation into UK and devolved law is welcome but, as always, the devil will be in the detail. We need more information regarding how this will work in practice, and additional measures and institutions will be needed to ensure it continues to be properly upheld and enforced. The Great Repeal Bill must ensure that any future changes are made by parliament, and not on the whim of ministers.

“The fact the government has chosen not to throw the baby out with the bath water and leave open the possibility of remaining part of certain EU regulatory bodies is sensible. Continuing to maintain a level regulatory playing field on issues such as chemical safety with our European neighbours is not only good for people and the environment, it makes sense for business too.”