Theresa May has outlined her vision for Britain's future outside the European Union, pledging to make a clean break by quitting the single market, ending unlimited EU immigration and pursuing "bold and ambitious" free trade agreements with countries including Australia.

In her most detailed statement about the UK's plans before formal Brexit negotiations commence, Mrs May argued Britain should remain "a good friend and neighbour" to its former partners but warned she would rather leave the EU with no agreement in place than accept a bad deal from Brussels.