David Miliband has accused Labour of a “dereliction of duty” over its refusal to back calls for a final say on Brexit.

Speaking on the eve of the party’s annual conference, the former foreign secretary said Labour had “no strategy” for Britain’s withdrawal from the EU.

The issue is expected to dominate the gathering in Liverpool, with Jeremy Corbyn facing mounting pressure to support a public vote on whatever deal Theresa May negotiates with Brussels.

Grassroots activists hope to use the conference to force a change in policy towards backing a final say referendum.

It comes after Theresa May admitted negotiations were at an “impasse” and warned that the UK would leave the bloc without a deal unless EU leaders agree to compromise.

Mr Miliband, a former Labour leadership candidate, told BBC Radio 4 Today: “Labour has got to be much, much stronger. The truth is that waiting for the government to foul up is no strategy at all. The country desperately needs a strong government but it also need a strong opposition.

“Labour’s tragedy over 20 years – and I include my own period in this – is that there was almost a complacency about Europe. The Tory tragedy was to be obsessed about Europe and the Labour tragedy was to be complacent about Europe.”

He added: “Finally the complacency is breaking, at least at the constituency level of the Labour Party, but it’s an absolute dereliction of duty for the Labour Party leadership not to embrace the fundamental principle that since the Brexit that people were sold two years ago is not available, it’s essential that the Brexit deal the prime minister does is put to people.

“The most corrosive thing in the long term will be a Brexit on terms that were missold.”

People's Vote march – demanding vote on final Brexit deal Show all 30 1 /30 People's Vote march – demanding vote on final Brexit deal People's Vote march – demanding vote on final Brexit deal Mandatory Credit: Photo by Guy Bell/REX (9725259aq) Marching down Whitehall - People's March for a People's Vote on the final Brexit deal. Timed to coincide with the second anniversary of the 2016 referendum it is organised by anti Brexit, pro EU campaigners. People's March for a People's Vote, London, UK - 23 Jun 2018 Guy Bell/REX Rex People's Vote march – demanding vote on final Brexit deal Demonstrators carry banners and flags as they participate in the People's March demanding a People's Vote on the final Brexit deal, in central London on June 23, 2018, the second anniversary of the 2016 referendum. Tens of thousands of people demonstrated in London on Saturday calling for a second vote on Britain's departure from the European Union. / AFP PHOTO / Niklas HALLE'NNIKLAS HALLE'N/AFP/Getty Images NIKLAS HALLE'N AFP/Getty Images People's Vote march – demanding vote on final Brexit deal A young protestor shouts as she takes part in the People's Vote demonstration against Brexit Getty Images People's Vote march – demanding vote on final Brexit deal A woman holds a placard as she joins EU supporters, calling on the government to give Britons a vote on the final Brexit deal, participating in the 'People's Vote' march in central London, Britain June 23, 2018. REUTERS/Henry Nicholls HENRY NICHOLLS Reuters People's Vote march – demanding vote on final Brexit deal epa06833888 Pro-EU demonstrators take part in a People's March anti-Brexit rally in Parliament Square in London, Britain, 23 June 2018. Protesters are calling for a referendum on the final deal. The protest is taking place on the second anniversary of the Brexit referendum. EPA/ANDY RAIN ANDY RAIN EPA People's Vote march – demanding vote on final Brexit deal A protester's pro-EU t-shirt EPA People's Vote march – demanding vote on final Brexit deal epa06833892 A pro-EU demonstrator waves a European Flag during a People's March anti-Brexit rally in Parliament Square in London, Britain, 23 June 2018. Protesters are calling for a referendum on the final deal. The protest is taking place on the second anniversary of the Brexit referendum. EPA/ANDY RAIN ANDY RAIN EPA People's Vote march – demanding vote on final Brexit deal Demonstrators carry banners and flags as they participate in the People's March demanding a People's Vote on the final Brexit deal, in central London on June 23, 2018, the second anniversary of the 2016 referendum. Tens of thousands of people demonstrated in London on Saturday calling for a second vote on Britain's departure from the European Union. / AFP PHOTO / Niklas HALLE'NNIKLAS HALLE'N/AFP/Getty Images NIKLAS HALLE'N AFP/Getty Images People's Vote march – demanding vote on final Brexit deal epa06833960 Tens of thousands of people march through London during a People's March anti-Brexit demonstration in London, Britain, 23 June 2018. Protesters are calling for a referendum on the final deal. The protest is taking place on the second anniversary of the Brexit referendum. EPA/ANDY RAIN ANDY RAIN EPA People's Vote march – demanding vote on final Brexit deal Leader of the Liberal Democrats, Vince Cable speaks during the People's March demanding a People's Vote on the final Brexit deal, in central London on June 23, 2018, the second anniversary of the 2016 referendum. Tens of thousands of people demonstrated in London on Saturday calling for a second vote on Britain's departure from the European Union. / AFP PHOTO / Niklas HALLE'NNIKLAS HALLE'N/AFP/Getty Images NIKLAS HALLE'N AFP/Getty People's Vote march – demanding vote on final Brexit deal epa06833964 A young pro-EU demonstrator takes part in a People's March anti-Brexit rally in Parliament Square in London, Britain, 23 June 2018. Protesters are calling for a referendum on the final deal. The protest is taking place on the second anniversary of the Brexit referendum. EPA/ANDY RAIN ANDY RAIN EPA People's Vote march – demanding vote on final Brexit deal Gina Miller and Caroline Lucas EPA People's Vote march – demanding vote on final Brexit deal epa06834044 Tens of thousands of people march through London during a People's March anti-Brexit demonstration, in London, Britain, 23 June 2018. Protesters are calling for a referendum on the final deal. The protest is taking place on the second anniversary of the Brexit referendum. EPA/ANDY RAIN ANDY RAIN EPA People's Vote march – demanding vote on final Brexit deal epa06833264 Thousands of people march through London during a People's March anti Brexit demonstration in London, Britain, 23 June 2018. Protesters are calling for a referendum on the final deal. The protest is taking place on the second anniversary of the Brexit referendum. EPA/ANDY RAIN ANDY RAIN EPA People's Vote march – demanding vote on final Brexit deal Tens of thousands of people march through London EPA People's Vote march – demanding vote on final Brexit deal epa06833265 Thousands of people march through London during a People's March anti Brexit demonstration in London, Britain, 23 June 2018. Protesters are calling for a referendum on the final deal. The protest is taking place on the second anniversary of the Brexit referendum. EPA/ANDY RAIN ANDY RAIN EPA People's Vote march – demanding vote on final Brexit deal Demonstrators at the People's Vote March Getty People's Vote march – demanding vote on final Brexit deal 'Two months too young to decide on my future' REUTERS People's Vote march – demanding vote on final Brexit deal Crowds taking part in the People's Vote march for a second EU referendum at Trafalgar Square in central London. PRESS ASSOCIATION Photo. Picture date: Saturday June 23, 2018. See PA story POLITICS Brexit. Photo credit should read: John Stillwell/PA Wire John Stillwell PA People's Vote march – demanding vote on final Brexit deal A young girl joins in the march PA People's Vote march – demanding vote on final Brexit deal An EU flag is draped across the statue of Winston Chruchill in Parliament Square REUTERS People's Vote march – demanding vote on final Brexit deal Demonstrators gather prior to the start of the People's March demanding a People's Vote on the final Brexit deal, in central London on June 23, 2018, on the second anniversary of the 2016 referendum. / AFP PHOTO / Niklas HALLE'NNIKLAS HALLE'N/AFP/Getty Images NIKLAS HALLE'N AFP/Getty Images People's Vote march – demanding vote on final Brexit deal Vince Cable MP, Pro-EU campaigner Gina Miller, Tony Robinson and Caroline Lucas MP join with crowds PA People's Vote march – demanding vote on final Brexit deal Crowds gather on Pall Mall in central London, during the People's Vote march for a second EU referendum. PRESS ASSOCIATION Photo. Picture date: Saturday June 23, 2018. See PA story POLITICS Brexit. Photo credit should read: John Stillwell/PA Wire John Stillwell PA People's Vote march – demanding vote on final Brexit deal Crowds gather on Pall Mall PA People's Vote march – demanding vote on final Brexit deal A man resembling Britain's Foreign Secretary Boris Johnson, joins EU supporters Reuters People's Vote march – demanding vote on final Brexit deal EU supporters, calling on the government to give Britons a vote on the final Brexit deal, participate in the 'People's Vote' march in central London, Britain June 23, 2018. REUTERS/Henry Nicholls HENRY NICHOLLS Reuters People's Vote march – demanding vote on final Brexit deal People gather in Trafalgar Square REUTERS People's Vote march – demanding vote on final Brexit deal Pro-EU campaigner Gina Miller and Tony Robinson PA People's Vote march – demanding vote on final Brexit deal EU supporters, calling on the government to give Britons a vote on the final Brexit deal, participate in the 'People's Vote' march REUTERS

Mr Miliband predicted Ms May would “eke out” a “paper-thin deal” with Brussels and then “use the threat of no deal and the disaster that represents to try to bludgeon people to support it”.

He said: “No-deal is obviously a terrible disaster for the country.

“Theresa May has painted herself and painted the country into a corner. We’re now in a situation where the contradictions and the delusions of Brexit are coming home to roost. There is no Brexit where you can have the benefits of the European Union without living by their rules.”

But speaking to Today, Dawn Butler, the shadow women and equalities minister, defended her party’s handling of Brexit.

She said: “Labour has been absolutely clear and steadfast from the very beginning.

“[Shadow Brexit secretary] Keir Starmer and his Brexit team looked at all of the paperwork in detail and from that he developed six tests, and from that he talked about having this relationship with the customs union.”

She added: “If Theresa May brings back a deal that doesn’t meet our six tests, we will not vote for it. We’ve been very clear about it.”

Ms Butler said Labour wanted to see a general election rather than another referendum.