The bill scraps the European Communities Act and transposes more than 19,000 EU laws and regulations into UK law, allowing a smooth exit as Britain leaves the Brussels bloc.
Some senior Tories have said that they share Labour’s concerns about an element of the bill which gives the Government powers to push through changes to legislation without full parliamentary scrutiny.
But the Government insists that the powers, known as secondary legislation, are necessary to make thousands of technical changes to laws without delay.
Writing in the Telegraph, Mr Davis said: “By converting EU law into UK law, wherever practical, at the point we leave, the Repeal Bill offers legal continuity.
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“And it delivers a legal guarantee that the UK can set its own laws after we leave, outside the control of the European Court of Justice.
“In essence it delivers what the British people voted for – control over our own laws.”
Responding to concerns that the bill will allow the Government to bypass Parliament, Mr Davis argued there was no need to panic.
He added: "Parliament will be able to scrutinise changes through secondary legislation, as it does all the time.
“And for any substantive policy change, we will pass primary legislation in the series of upcoming Bills that were announced in this year’s Queen’s Speech, from immigration to trade.
“And then, after Brexit, our laws will be made in London, Edinburgh, Cardiff and Belfast.”
The Brexit Secretary also made an open offer to add any missing rights to the bill if they are brought to his attention.
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Mr Davis said: “But what comes back from the Labour Party is not constructive suggestion, an alternative plan for taking control of our laws, but moan, complaint and gripe.
“This is not about government ministers watering down people’s rights or changing EU laws that they don’t like.
“So any broad attempt to block the Bill, without any sense of a viable alternative is simply an attempt to thwart the democratic process.”