Before Remainers get the prosecco out, it's worth noting that Davis said in the event of a "no deal" scenario, MPs and peers would not have any vote as there would not be anything to have a bill based on.
He also said, "the agreement will only hold if Parliament approves it".
"I can now confirm that once we've reached an agreement we will bring forward a specific piece of primary legislation to implement that agreement", Mr Davis told Parliament.
He added: "This confirms that the major policy set out in the withdrawal agreement will be directly implemented into United Kingdom law by primary legislation, not by secondary legislation with the Withdrawal Bill". This means that as well as the current "take it or leave it" vote in principle on the Brexit deal, the final agreement will need to be enshrined in law and, importantly, be subject to scrutiny and a vote by MPs and peers.
In a statement to the House, the Brexit Secretary appeared to perform a U-turn as he announced that the final Brexit deal will take the form of an act of Parliament.
But he made clear Britain will leave the bloc on 29 March 2019 without a deal if the legislation is defeated.
The government's hope is that a deal can be reached by next autumn, which would then be put before Parliament ahead of Brexit.More news: 7 reasons why the Pixel 2 is better than the iPhone X
However, a number of MPs on both sides of the House queried whether a vote at the very last minute would be "meaningful".
Meanwhile, former Tory constitution minister John Penrose welcomed the Government's stronger pledge on a parliamentary vote, but expressed continuing concerns over the use of so-called "Henry VIII powers" as provided by the EU Withdrawal Bill.
Liberal Democrat Brexit spokesperson Tom Brake said a parliamentary vote "simply isn't good enough" as he repeated his party's call for a second European Union referendum on the terms of a Brexit deal.
Keir Starmer, the shadow Brexit secretary, said the Tories had performed a "significant climbdown" after David Davis, his opposite number in government, announced there would be a binding vote on any deal.
Grieve expressed concern that ministers were making a verbal promise alone, and said the policy needed to be written into the European Union withdrawal bill.
"For months, Labour has been calling on ministers to guarantee parliament a final say on the withdrawal agreement".
Brexit-supporting MPs, including Suella Fernandes, chair of the Tory's European Research Group, asked for assurance the bill would not be used to reverse Brexit. "They have finally backed down", he said. "They need to accept Labour's amendments that would ensure transitional arrangements and protect jobs and economy from a cliff edge".