The British government must acknowledge that it cannot have its cake and eat it when it comes to Brexit, the Taoiseach has said.
"I think the UK needs to make decisions and make some choices. They continually seem to have internal debates," Mr Varadkar said in the Dáil.
He was responding to a question from Labour leader Brendan Howlin, who asked about the possibility of extending the deadline for Brexit talks.
Mr Varadkar said that while such a move was possible, the UK has not requested it and he saw no benefit in offering an extension.
"While there have been some improvements in recent months it is very often the case that the policy of having your cake and eating it still seems to be at the centre of the asks that they are making of the European Union," Mr Varakdar added.
Taoiseach says British govt needs to move on from internal debates and make choices about what it wants from Brexit pic.twitter.com/A2NF9Mm9rF— RTÉ News (@rtenews) June 13, 2018
Meanwhile, the British Prime Minister has said that parliament cannot be allowed to "overturn the will of the British people" on Brexit.
Theresa May was speaking as she confirmed that her government will table a new amendment to her flagship EU Withdrawal Bill, setting out in more detail the terms of the "meaningful vote" promised to MPs on the final Brexit deal.
Mrs May saw off a threatened defeat on the issue in the House of Commons yesterday by assuring would-be rebels personally that she would take their concerns on board.
But pro-EU Tories are warning that they remain ready to rebel if their demands are not satisfied by the compromise amendment, which is expected to be tabled tomorrow ahead of the bill's return to the House of Lords on Monday.
Speaking at Prime Minister's Questions, Mrs May said: "We have seen concerns raised about the role of parliament in relation to the Brexit process.
"What I agreed yesterday is that as the bill goes back to the Lords we would have further discussions with colleagues over those concerns.
"I have agreed this morning with the Brexit Secretary that we will bring forward an amendment in the Lords."
Mrs May said her approach would be guided by the principle that "the government's hand in negotiations cannot be tied by parliament, but we need to be accountable to parliament".
She said: "I cannot countenance parliament being able to overturn the will of the British people: parliament gave the decision to the British people, the British people voted to leave the European Union and as Prime Minister I'm determined to deliver that."
Mrs May was responding to a question from Conservative arch-Brexiteer Jacob Rees-Mogg, who said it was vital that any amendment preserved the separation between the roles of government and parliament.
Potential Tory rebels held back from a threatened revolt yesterday after a face-to-face meeting in which Mrs May was said to have offer "personal assurances" on concessions.
Minutes later, all but two of the Tory MPs voted with the Government to reject a Lords amendment that would have given parliament the power to tell the Mrs May to go back and renegotiate the Brexit deal she secures from Brussels.