British travellers will need to have their passports stamped each time they enter the EU after the Brexit transition period expires, The Telegraph understands.

British negotiators had requested that UK nationals should be allowed to use "EU citizens" lanes after January 1 next year but were told that was not possible, according to two sources with knowledge of the negotiations.

As a result, UK travellers will need to join the same queue as other non-EU citizens, submitting to a physical passport inspection and receiving a passport stamp.

It is understood that a UK request for nationals to use electronic e-gates was rejected because the EU's borderless Schengen zone does not currently have the technology to accommodate "third country" nationals.

"The technology is being developed in the next couple of years and, when it is available, it should be possible for UK nationals to use it – but until then they will have to queue for a stamp in their passports," said a source with knowledge of the talks.

Currently, non-EU nationals from pre-cleared countries including Japan, South Korea, Australia and the United States are able to use e-gates at British airports, but this is not yet technically possible in the Schengen zone.

EU officials said that, once the capacity had been built, it was a reasonable assumption that UK nationals would be able to use Schengen zone e-gates.

Separately, EU officials confirmed last week that the bloc's plans to introduce a US-style visa waiver scheme had been delayed until 2023.

The European Travel Information and Authorisation System scheme will require non-EU nationals from around 60 "visa exempt" countries, including the UK, to pay a €7 fee to obtain authorisation that will enable them to travel visa-free to the EU.

The scheme had initially been planned for roll-out by the end of 2021, with full implementation by the end of the following year, but it has now been put back.

The UK government's advice for travel to Europe after January 1 next year says tourists will have visa-free travel to EU countries, Iceland, Liechtenstein, Norway and Switzerland for up to 90 days in any 180-day period.

Subject to the outcome of negotiations, longer stays or business travel may require a visa, with the government warning that business travellers should check that their professional qualifications are recognised in different EU countries.

As well as using separate lanes to those used by EU citizens, the advice also warns that travellers may need to show a "return or onward ticket" and demonstrate that they have enough money for their stay in the EU country. The guarantee of free mobile roaming charges will also end.