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Despite having eight options to choose from, MPs failed to back any of the alternative arrangements to the Brexit deal.
MPs cleared the chamber to cast their votes at around 7pm, before speaker John Bercow announced the results at 9.30pm.
The option that was the closest to gaining a majority was put forward by Ken Clarke that any withdrawal agreement must be put to the public in a "confirmatory" second referendum.
The results are:
Option B: Leave the EU without a deal on April 12 - REJECTED
Ayes 160 Noes 400
Option D: Norway + model (remain in single market, customs arrangement, European Free Trade Agreement) REJECTED
Ayes 188 Noes 283
Option H: Norway model, without a customs union (European Economic Area and European Free Trade Agreement). REJECTED
Ayes: 65 Noes: 377
Option J: Leave the EU with a UK-wide customs union. REJECTED
Ayes: 264 Noes: 272
Option K: Permanent customs union, including alignment with single market on future EU rights and regulations. REJECTED
Ayes: 237 Noes: 307
Option L: Revoke Article 50 if no-deal Brexit is not explicitly approved by MPs a day before we are due to leave. REJECTED
Ayes: 184 Noes: 293
Option M: Any withdrawal agreement must be put to the public in a "confirmatory" second referendum. REJECTED
Ayes: 268 Noes: 295
Option O: If no withdrawal agreement agreed, seek "standstill" agreement with the EU while negotiating trade deal. REJECTED
Ayes: 139 Noes: 422
A vote was also held on whether to put the Brexit date back to May 22, if a deal is agreed, or April 12, if it is not.
The Ayes had it with 441 votes against 105.
The votes were overshadowed by Prime Minister Theresa May's news that she would resign once the Brexit deal is put through.
Speaking to the 1922 select committee, Mrs May said: “This has been a testing time for our country and our party. We’re nearly there.
"We’re almost ready to start a new chapter and build that brighter future.
“But before we can do that, we have to finish the job in hand.
"As I say, I don’t tour the bars and engage in the gossip – but I do make time to speak to colleagues, and I have a great team in the Whips' Office.
“And I have heard very clearly the mood of the parliamentary party. I know there is a desire for a new approach – and new leadership – in the second phase of the Brexit negotiations – and I won’t stand in the way of that.
“I know some people are worried that if you vote for the Withdrawal Agreement, I will take that as a mandate to rush on into phase two without the debate we need to have. I won’t – I hear what you are saying.
“But we need to get the deal through and deliver Brexit. I am prepared to leave this job earlier than I intended in order to do what is right for our country and our party.
“I ask everyone in this room to back the deal so we can complete our historic duty – to deliver on the decision of the British people and leave the European Union with a smooth and orderly exit.”