The foreign secretary urged Prime Minister Theresa May to deliver a “full British Brexit”, not something that was “half-hearted”.
Writing in The Sun, he said: “Across the country I find people who – whatever they voted two years ago – just want us to get on and do it.
“They don’t want a half-hearted Brexit.
“They don’t want some sort of hopeless compromise, some perpetual pushme-pullyou arrangement in which we stay half-in and half-out in a political no man’s land – with no more ministers round the table in Brussels and yet forced to obey EU laws.
“They don’t want some bog roll Brexit, soft, yielding and seemingly infinitely long.
“They want this Government to fulfil the mandate of the people and deliver a full British Brexit.”
His words come on the second anniversary of the UK’s vote to leave the European Union, as thousands of people are expected to march to Parliament Square to call for a referendum on the terms of Brexit secured by the prime minister.
Speakers include Liberal Democrat leader Sir Vince Cable, Tory former minister Anna Soubry, Labour’s David Lammy and Green co-leader Caroline Lucas.
Research by the Centre for European Reform has shown Brexit has already made the UK economy 2.1% weaker than it would have been if voters had decided to stay in the EU.
Data from similar economies, including Canada, Japan, Hungary and the US was used to estimate how the UK would have performed.
CER deputy director John Springford said: “Two years on from the referendum, we now know that the Brexit vote has seriously damaged the economy.
“And we know that the government’s ‘Brexit dividend’ is a myth, the vote is costing the Treasury £440m a week, far more than the UK ever contributed to the EU budget.”
Meanwhile, International Trade Secretary Liam Fox said the UK was not “bluffing” about being prepared to walk away from talks with Brussels.
He said the economic impact of a “no deal” Brexit on EU members would be “severe”.