Vince Cable has said he “welcomes people with dark faces”, as he condemned Nigel Farage’s infamous Brexit referendum poster in a heated debate ahead of the European elections.

Accusing the Brexit Party leader of whipping up antagonism against foreigners, the Liberal Democrat leader tackled Mr Farage over his previous rhetoric on immigration.

But Mr Farage insisted he was “far from racist”, and said he “utterly rejected” any suggestion he was attempting to “stir anything up”.

During a debate hosted by The Daily Telegraph – ahead of Thursday’s European parliament elections – Sir Vince told the former Ukip leader: “You have played a role in whipping up this antagonism to foreigners.

“In the referendum, you told us that next year, 2020, Turks are going to be free to come to this country. A lot of people were alarmed by something that is patently untrue.”

Farage launches his new Brexit Party: in pictures Show all 10 1 /10 Farage launches his new Brexit Party: in pictures Farage launches his new Brexit Party: in pictures Nigel Farage speaks at the launch of his new Brexit Party's campaign for the European elections Reuters Farage launches his new Brexit Party: in pictures Brexit Party candidate Annunziata Rees-Mogg, sister of Conservative MP Jacob Rees-Mogg, speaks at the launch AFP/Getty Farage launches his new Brexit Party: in pictures A supporter waits for Farage to speak AFP/Getty Farage launches his new Brexit Party: in pictures Supporters wait for Farage to speak AFP/Getty Farage launches his new Brexit Party: in pictures Farage's socks Reuters Farage launches his new Brexit Party: in pictures Farage and prospective candidate Annunziata Rees-Mogg wait at the launch AFP/Getty Farage launches his new Brexit Party: in pictures Supporters listen as Farage speaks AFP/Getty Farage launches his new Brexit Party: in pictures Free T-shirts for all attendees AFP/Getty Farage launches his new Brexit Party: in pictures Posters on the seats for supporters of the Brexit Party AFP/Getty Farage launches his new Brexit Party: in pictures A safety sign is pictured AFP/Getty

Referring to the widely-condemned “Breaking Point” poster that Mr Farage unveiled during the Brexit referendum, he continued: “You put out that advertisement, the hoarding, showing immigrants who had dark faces. I welcome people with dark faces. I was married to one.

“But people coming in from Europe are Europeans. It was giving a totally false picture of what immigration actually amounts to.”

In the debate, Mr Farage insisted: “Far from being racist, actually, we really are more internationalist than those who want our whole future decided by the EU.

“All I have ever argued with immigration is that we should have a free, fair system that stops discriminating against India and against Australia in favour of Romania, or anywhere else.

“I utterly reject the idea that I am trying to stir anything up.”

Vince Cable accuses Nigel Farage of 'being precious' for pressing charges against milkshake attacker

Their exchange came as the Liberal Democrat MP Tom Brake suggested the prime minister could be gone within days, as he claimed the Conservatives will be thrashed at the European elections on Thursday.