David Davis says there will not be armed checkpoints on border between Northern Ireland and Republic of Ireland

David Davis, the Brexit secretary, has promised there will be no return to any “hard” border between Northern Ireland and the Irish Republic when the UK leaves the European Union.

On a visit to Belfast on Thursday, Davis vowed there will be “no return to the past” in terms of armed checkpoints and border checks along the UK’s only land frontier with an EU state.

The secretary of state for exiting the European Union met Northern Ireland’s first minister, Arlene Foster, at Stormont. The Democratic Unionist party later described the meeting with Davis as “useful.”

Davis was due to meet the Sinn Féin finance minister, Máirtín Ó’Muilleoir, later. Sinn Féin campaigned for the UK to remain in the EU during the referendum.

Both Sinn Féin and their nationalist rivals in the Social Democratic and Labour party have said they do not want to be “dragged out of the EU” on the basis of the way the English electorate voted.

Writing in the Belfast Telegraph, Davis made his vow about not returning to the past in terms of armed checkpoints and border checks. He wrote: “We had a common travel area between the UK and the Republic of Ireland many years before either country was a member of the European Union.

“We are clear we do not want a hard border – no return to the past – and no unnecessary barriers to trade. What we will do is deliver a practical solution that will work in everyone’s interests, and I look forward to opening the conversation about how that should operate with my colleagues today.”

The minister also tried to address fears in Northern Ireland about the economic impact of losing EU subsidies once the UK triggers article 50 and leaves Europe.

There is particular concern in the region’s agricultural community about Brexit given that £8.50 of every £10 of Ulster farming income comes from the EU single farm payment.

“Agriculture is a vital part of the Northern Ireland economy, and the government will match the current level of annual payments that the sector receives through the direct payment scheme until 2020, providing certainty,” Davis said.

Denying Brexit would damage UK-Irish relations, Davis said: “We are already working with the Irish government and I firmly believe this process will take our relationship forwards not backwards.”

Brexit would also not change the government’s policies on Northern Ireland and its continued support for the power-sharing settlement in the region, Davis said.

“The result of the referendum does not change the government’s priorities. Along with all political parties in Northern Ireland and the Irish government, we will continue to work for peace, stability and prosperity for Northern Ireland. As the government’s manifesto set out last year, we are committed to a brighter, more secure future for the people who live here.”