Mr Davis accused Labour of having “fudged” their Brexit position to unite a party that is trying to appeal to everybody by not making an argument for anything.
Shadow Brexit Secretary Sir Keir Starmer said: “It is a negotiation that has got off to the worst possible start because the Prime Minister called an election that she did not need to call.
“It is not clear what her mandate is and she has lost authority abroad. Now all of us want these talks to succeed because we need a good deal for Britain that is going to last for generations. Sadly we have got off to the worst possible start.”
When he did not get a straight answer about Labour’s position regrading the customs union, the Newsnight host unleashed an astonishing attack about the lack of clarity from the opposition party.
Mr Davis responded: “There is an element of fudge in the Labour position which is designed to hold together a broad coalition of blue collar workers who voted Brexit and metropolitan liberals who voted Remain.
“You are trying to be all things to everybody by not making an argument and refusing to answer whether you want to remain in the customs union.”
The Shadow Brexit Secretary was asked about the Labour position regarding immigration and the Free Movement of People.
Sir Keir added: “I am attracted to Free Movement of Labour. It is important to strip out refugees and students, who should not be included in the numbers, and that leaves you with families and people who want to come here to work.
“I think we could strike a model that deals with people who want to come here to work but it has to work for the economy.
“We do not want arbitrary caps on migration that would crash the economy.”
Mr Davis ended by saying he had been desperate for clarity and apologised for having to guess and summarise the Labour position on Brexit himself.
Speaking on Sunday on the Andrew Marr Show, Sir Keir said the Prime Minister had put the UK in a “mess”.
He said: “I think the Prime…