The SNP say the paper puts pressure on the UK Government to open talks about the transition process before the vote in 2014.
"Today's paper provides the people of Scotland with a clear road map as to how Scotland would make the journey from a devolved system of government with the levers of power retained at Westminster, to a nation in which the powers of our national Parliament are complete and in which the people are sovereign."
More top news
Kerrie Gosney brings you Saturday night's forecast
Showers turning heavy with a risk of thunder. Dry and bright start on Sunday, cloudy and wet from the west later
Scotland's First Minister said her government will seek 'immediate discussions' with Brussels to "protect Scotland's place in the EU".