Head of the European Council Donald Tusk has stressed both sides face a “furious race against time” to wrap up talks before the UK is due to leave the EU by March 2019.
The EU had agreed that enough progress had been made to progress talks for a trade agreement with the UK.
However Brexit secretary David Davis has come under pressure from Brussels after he had suggested the deal was not legally binding with the EU urging the UK not to “backtrack” on the agreement made last week.
European Commission chief negotiator Michel Barnier told reporters in Brussels: “We will not accept any backtracking from the UK in commitments in the joint report. All our points of agreement are now closed.”
Mr Davis has stressed that he was quoted out of context.
However European Parliament negotiator Guy Verhofstadt has said the remarks would hurt “good faith” between the two sides.
After calling Mr Verhofstadt, Mr Davis tweeted: “Pleased, as ever, to speak to my friend Guy Verhofstadt. We both agreed on the importance of the joint report. Let’s work together to get it converted into legal text as soon as possible.”