Davis, who has been leading the UK government’s negotiations to leave the EU, announced his departure on Sunday night (July 8).
It was reported two junior ministers at Davis’s Department for Exiting the EU also resigned, Steve Baker and Suella Braverman.
However, it was confirmed on Monday (July 9) Braverman would remain in post.
It comes after Prime Minister Theresa May’s Brexit summit at Chequers on Friday (July 6), during which the cabinet agreed an outline "soft Brexit" plan - which includes a "mobility framework" to support movement within the EU.
However, in a lengthy letter to the PM to inform her of his resignation, Davis said the plan would leave the UK in a weak negotiating position with the EU.
He added current policy trends and tactics made it look "less and less likely" the UK would leave both the customers union and single market.
May confirmed on Monday housing minister Dominic Raab has been appointed Secretary of State for Exiting the EU in Davis’s place.
