Boris Johnson has admitted Britain may continue to allow the free movement of people from the EU after Brexit.

The Foreign Secretary said immigration controls were likely to be imposed after the so-called implementation phase, which will extend beyond the two-year negotiations.

Continuing to allow EU migrants to settle in the UK without restrictions would allow the economy to attract talented people, Mr Johnson said.

Asked if Britain would accept full free movement of people after the March 2019 deadline for talks to end membership of the bloc, Mr Johnson said such a deal was possible.

"Ideally I think it could be done, what with goodwill and imagination it could be done," he told reporters in Athens.

"In the last 10 years I have been one of the few British politicians to speak up on the benefits of immigration," he said.

Mr Johnson added that he did not want to discourage talented people from coming to Britain, but said the government wanted control over flows.

"We don't want to close the doors. We simply want to have a system that is balanced," he said.

In pictures: European parliament Brexit discussions Show all 12 1 /12 In pictures: European parliament Brexit discussions In pictures: European parliament Brexit discussions European commission member in charge of Brexit negotiations with Britain, French Michel Barnier listens at the President of the European Commission Jean-Claude Juncker speaking at the European Parliament in Strasbourg Getty Images In pictures: European parliament Brexit discussions Frank-Walter Steinmeier, President of the Federal Republic of Germany, delivers his speech at the European Parliament in Strasbourg EPA In pictures: European parliament Brexit discussions European Union's chief Brexit negotiator Guy Verhofstadt, President of the Group of the Alliance of Liberals and Democrats for Europe (ALDE), addresses the European Parliament during a debate on Brexit priorities and the upcomming talks on the UK's withdrawal from the EU Reuters In pictures: European parliament Brexit discussions Michel Barnier, European Chief Negotiator for Brexit reacts during a meeting at the European Parliament in Strasbourg EPA In pictures: European parliament Brexit discussions Member of the European Parliament and former leader of the anti-EU UK Independence Party (UKIP) Nigel Farage wears socks with Union Jack flag at the European Parliament in Strasbourg Getty Images In pictures: European parliament Brexit discussions Nigel Farage, United Kingdom Independence Party (UKIP) member and MEP, addresses the European Parliament during a debate on Brexit priorities and the upcoming talks on the UK's withdrawal from the EU Reuters In pictures: European parliament Brexit discussions European commission member in charge of Brexit negotiations with Britain, French Michel Barnier gestures during speeches at the European Parliament in Strasbourg Getty In pictures: European parliament Brexit discussions The President of the European Commission Jean-Claude Juncker (L) speaks with European commission member in charge of Brexit negotiations with Britain, French Michel Barnier at the European Parliament in Strasbourg Getty In pictures: European parliament Brexit discussions European Union's chief Brexit negotiator Guy Verhofstadt, President of the Group of the Alliance of Liberals and Democrats for Europe (ALDE), addresses the European Parliament during a debate on Brexit priorities and the upcomming talks on the UK's withdrawal from the EU Reuters In pictures: European parliament Brexit discussions Member of the European Parliament and former leader of the anti-EU UK Independence Party (UKIP) Nigel Farage gestures during speeches at the European Parliament in Strasbourg, eastern France, on April 5, 2017. The European Parliament will on April 5 lay down its "red lines" for negotiations over a Brexit deal, on which the assembly will have the final say in two years' time. / AFP PHOTO / Sebastien BozonSEBASTIEN BOZON/AFP/Getty Images Getty In pictures: European parliament Brexit discussions German president Frank-Walter Steinmeier delivers a speech during a plenary session at the European Parliament in Strasbourg Getty In pictures: European parliament Brexit discussions The European Parliament in Strasbourg, eastern France Getty Images

However, Mr Johnson appeared to stoke fears about immigration during the Brexit campaign.

In the days before the 23 June referendum, the former London mayor claimed remaining in the EU was the “riskier” option because of the supposed pressures on housing and the NHS from European migrants.

Mr Johnson and his Brexit-backing colleague Michael Gove also vowed to create a “genuine Australian-style points based immigration system” by the time of the next general election in 2020.

The Foreign Secretary’s latest comments are more explicit than a suggestion from Theresa May that free movement could continue during a phase after Brexit when Britain and the EU implement their divorce deal.

Ms May hinted last month that freedom of movement could continue in some form after Britain has officially left the EU.

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“We want to make sure that we are ending the jurisdiction of the European court of justice and that we are able to control movement of people coming from the EU,” the PM said during a special BBC programme on Brexit.

“We want to have the agreements done in two years.”

But she added: “There may then be a period in which we are implementing those arrangements.

“If there are different visa arrangements that need to be put in place, the government here and the government elsewhere will have to have their systems working so that it can operate.

“So there may be a period where we have got to implement the decisions that have been taken.”