At the same time, the EU's chief negotiator Michel Barnier warned that Britain's big financial sector would lose its automatic right to operate in European Union countries, and checks would be carried out on British goods.
He told Julia Hartley-Brewer that Brits need to "rediscover" their optimism. "But I personally believe that we should be way more ambitious".
In a speech setting out the UK's negotiating objectives, Mr Johnson said the question was whether to seek a Canadian-style deal or an Australian-style relationship, "and I have no doubt that in either case the United Kingdom will prosper".
That dismissal was backed up by European Commission chief Ursula von der Leyen who said the bloc was "fine" with Britain walking away without a deal if it so chose, although she preferred to see an "ambitious" accord struck.
European Union Commission President Ursula von der Leyen says the European Union will only offer Britain unique access to its vast single market if the United Kingdom agrees to stick to the bloc's standards.More news: Michigan Wolverines vs. Michigan State Spartans - 2/8/20 College Basketball Pick, Odds & Prediction
Von der Leyen insisted that the 27-nation European Union is offering Britain "something we have never offered before to anybody else" on the condition that the former European Union nation guarantees fair competition and protections for workers and the environment. Speaking after Mr Barnier on Tuesday, Mr Javid said the two sides were working closely to reach an agreement.
The UK government is due to publish a white paper on new immigration policy in March to put into practice the new immigration policy immediately after ending the Brexit transition period, which is poised to settle on bringing in high-skilled immigrants regardless of their nationality, but the overall number of immigrants will decline in years to come.
Both sides have said they want to avoid such costs and barriers to trade.
"Indeed, in the political declaration, they agreed to work at speed on an equivalence decision by the end of July this year, and that's welcome", he told Parliament, referring to the non-binding part of the deal that accompanied Britain's departure from the bloc on Jan 31.
"Despite breaking the Brexit deadlock in Westminster, a faltering global economy and a challenging domestic business environment could limit the UK's growth prospects - particularly if the lack of clarity over post-transition trading arrangements persists", said Suren Thiru, head of economics at the British Chambers of Commerce. "We will keep control of these tools and we will retain a free hand to keep our own decisions".More news: Ex-Tottenham boss Pochettino 'would love' Premier League return
"We will no longer be rule-takers, but we remain committed to the highest worldwide standards of financial regulation and to shaping global rule-making".
"Come what may, on January 1 we will be imposing checks on all products entering the single market, just as we do to every other third country in the world", he said.
He added that Britain should not be under the illusion the City of London's financial services will have preferential access.
Senior Cabinet minister Michael Gove confirmed on Monday that goods coming to Britain from the European Union will face import controls from January 1.More news: Oregon State faces tough test vs No. 14 Oregon