British MPs have backed the Government to formally start EU withdrawal no later than the end of March 2017 - but only if it publishes its Brexit plan first.
A symbolic motion, which is non-binding, was approved by 448 votes to 75, majority 373.
Faced with a revolt by up to 40 Tory MPs, Prime Minister Theresa May bowed to pressure and backed a Labour motion that said she should publish a plan before triggering the formal process of leaving.
In return, most of the rebels and Labour backed a compromise government amendment to support Ms May's pledge to invoke Article 50 to start Brexit by April.
MPs held two votes, with the first in favour of adding the government amendment to the original Labour motion - by 461 votes to 89, majority 372.
This was opposed by 23 Labour MPs and one Conservative - former chancellor Ken Clarke.
The Labour rebels included Ben Bradshaw, David Lammy and former shadow chancellor Chris Leslie.
The amendment was also opposed by five Liberal Democrat MPs, three Plaid Cymru MPs and 51 SNP MPs.
Meanwhile, some 150 Labour MPs backed the government's amendment.
Earlier, Minister for Foreign Affairs Charlie Flanagan said it is absolutely essential that the UK outlines its plan for leaving the EU.
He was speaking in London where he held a number of meetings with parliamentarians to discuss the ongoing situation around Brexit.
The minister said that five months on from the referendum, the UK needs to put a shape on the kind of withdrawal from the EU it will seek.
