London (CNN) EU citizens living in the UK would be stripped of their freedom of movement, social security and housing rights under legislation designed to regulate immigration after Brexit, according to a UK parliamentary committee.

The cross-party committee said in a report published on Monday that the legislation could leave people in a "precarious situation" and that it raises "significant human rights concerns."

The committee claims that 3 million EU citizens will be left "in a rights limbo, subject to subsequent negotiation."

It also warns that under the Immigration and Social Security Co-ordination (EU Withdrawal) Bill, the rights of Irish nationals in the UK could be "diminished," for example by limiting their ability to live in the UK with a non-EU spouse.

British Prime Minister Theresa May is attempting to get her Brexit deal through Parliament.

The committee has drafted amendments to the bill to ensure rights are protected. The report recommends that citizens' rights be protected by primary legislation rather than relying on ministers to introduce statutory instruments after Brexit.

Read More