Donald Trump is poised to make a second trip to the UK immediately after Brexit, a recording reveals – this time with the pomp and ceremony of a full state visit.

British and US diplomats have been captured making plans for the return visit, at the formal invitation of the Queen and – if precedent is followed – including a military guard of honour.

The move was immediately criticised, coming just days after Mr Trump was condemned around the world for his policy of keeping migrant children in cages at the US border.

“It is ridiculous that the British government acts in this obsequious way to a man who wants to wreck the open trading system on which the UK depends,” said Vince Cable, the Liberal Democrat leader.

On Wednesday, Theresa May was forced to rebuff calls in the House of Commons for Mr Trump’s first visit – next month – to be scrapped in protest at his immigration abuses.

Now Britain’s national security adviser and his US counterparts have been recorded discussing the plans for the state visit, in a Channel 4 documentary to mark the opening of the new US embassy.

Sir Mark Sedwill is heard saying it would be “worth having him here” to coincide with Second World War commemorations in “May next year”.

He says: “Let’s plan for a series of visits in his first term,” and – after suggesting next May for a state visit – adds: “The key thing is that we get him here.”

Singapore Summit: historic first meeting between Trump and Kim Jong-un Show all 20 1 /20 Singapore Summit: historic first meeting between Trump and Kim Jong-un Singapore Summit: historic first meeting between Trump and Kim Jong-un Mr Trump and Mr Kim leave following their historic meeting AFP/Getty Singapore Summit: historic first meeting between Trump and Kim Jong-un Mr Trump and Mr Kim sign a document committing to peace between their nations, amongst other things EPA Singapore Summit: historic first meeting between Trump and Kim Jong-un Mr Trump holds up a document that both he and Mr Kim have signed AFP/Getty Singapore Summit: historic first meeting between Trump and Kim Jong-un The two leaders reach out to shake hands for the first time AP Singapore Summit: historic first meeting between Trump and Kim Jong-un Mr Trump and Mr Kim shake hands as they meet for the first time Reuters Singapore Summit: historic first meeting between Trump and Kim Jong-un Mr Trump and Mr Kim walk off stage, following their historic meeting Reuters Singapore Summit: historic first meeting between Trump and Kim Jong-un Mr Trump and Mr Kim take a stroll after their meeting on June 12 Reuters Singapore Summit: historic first meeting between Trump and Kim Jong-un Mr Trump and Mr Kim interrupt their stroll to talk to the media AP Singapore Summit: historic first meeting between Trump and Kim Jong-un Mr Kim and Mr Trump look out over a balcony at the Capella hotel, where they held their meeting on June 12 Reuters Singapore Summit: historic first meeting between Trump and Kim Jong-un Mr Trump takes questions at the press conference following his meeting with with Mr Kim AP Singapore Summit: historic first meeting between Trump and Kim Jong-un Mr Trump appreciates the crowd in the press conference following his meeting with Mr Kim Getty Singapore Summit: historic first meeting between Trump and Kim Jong-un Mr Trump travels to the Istana ahead of the summit with Kim Jong Un on June 12 Reuters Singapore Summit: historic first meeting between Trump and Kim Jong-un Kim Jong Un travels to the Istana ahead of the summit with President Trump on June 12 Reuters Singapore Summit: historic first meeting between Trump and Kim Jong-un Mr Kim poses for a photo with Singapore's Finance Minister Vivian Balkrishnan and Education Minister Ong Ye Kung ahead of the summit with Mr Trump Twitter/Reuters Singapore Summit: historic first meeting between Trump and Kim Jong-un Mr Trump shakes hands with Singapore Prime Minister Lee Hsien Loong, meeting on Monday June 11 in the Istana, Singapore's presidential palace AP Singapore Summit: historic first meeting between Trump and Kim Jong-un At a working lunch on Monday, Singapore's Prime Minister surprised Mr Trump with a birthday cake, in early celebration of his 72nd birthday later in the week EPA Singapore Summit: historic first meeting between Trump and Kim Jong-un US Secretary of State Mike Pompeo answers questions about the summit at a press briefing in Singapore on Monday, June 11 Getty Singapore Summit: historic first meeting between Trump and Kim Jong-un US President Donald Trump arrives at the Paya Lebar Air Base in Singapore on June 10, two days prior to his summit with North Korean leader Kim Jong Un Reuters Singapore Summit: historic first meeting between Trump and Kim Jong-un Mr Trump and Mr Kim met on Tuesday June 12 in the Capella hotel on the island resort of Sentosa, just off the south coast of Singapore AFP/Getty Singapore Summit: historic first meeting between Trump and Kim Jong-un Mr Trump boards Air Force One following the summit AFP/Getty

The comments were made to Woody Johnson, the US ambassador, at a reception, in late March, to formally open the new embassy building in London.

Mr Johnson replies: “Let’s get him here once. Once you get it then you know what you are dealing with.” Sir Mark replies: “Then you have broken the issue.”

The US ambassador then urges the security adviser not to let “fear” about the visit “hold you back”.

Sir Mark tells the ambassador he had already had discussions with his former counterpart in Washington, ex-national security adviser HR McMaster, and suggested making it “the first big visit after Brexit”.

Mr Johnson also said he did not see enough confidence in Britain over Brexit and urged “don't be pessimistic”.

“To see this defeatist attitude towards Brexit is a bit sorrowing to me,” he said.

The state visit was thought to have been shelved indefinitely, because of the fear of huge public protests and out of a desire to avoid embarrassing the royal family.

Instead, Mr Trump is to make a working visit, after attending a Nato summit in Brussels, arriving in the UK on 12 July.

He is expected to visit the prime minister the following day, either at Downing Street or Chequers, her country retreat – if a decision is taken to avoid the huge protests anticipated.

The US president is then expected to travel to Scotland to play golf with a celebrity. He will also meet the Queen at some point.

Officials from Mr Trump’s team were expected to thrash out the details of the president’s trip this week – but they are behind schedule, the recording also shows.

The delays are believed to be the result of the Singapore summit with North Korea’s dictator Kim Jong-un.