Video report by ITV News Political Correspondent Daniel Hewitt
MPs will debate and vote on the Government's Brexit motion on the EU Withdrawal Agreement on Friday.
John Bercow cleared the motion for debate, ruling that it complies with parliamentary conventions which bar ministers from asking MPs to vote repeatedly on the same proposals.
He said the motion "complies with the test" because it is "new and substantially different".
The motion will not count as a third attempt to pass a "meaningful vote" on Theresa May's deal because it will not cover the future relationship with Europe.
MPs will be voting on the Withdrawal Agreement only, which argues the terms of actually leaving the EU, including terms on future trade and the Irish backstop, and not the Political Declaration which sets out plans for a future trade and security relationship with the EU.
Leader of the House of Commons Andrea Leadsom confirmed Parliament would be sitting on Friday as she announced details of the planned Brexit vote.
Mrs Leadsom suggested if the vote on the Withdrawal Agreement is defeated tomorrow, the UK could crash out of the EU without a deal.
"In agreeing tomorrow's motion we will trigger the automatic extension of Article 50 to May 22," she said.
"If we don't agree the Withdrawal Agreement tomorrow then we will not, so that leaves in doubt the future for the arrangements with the European Council."
The Government are attempting to pass Mrs May's Brexit deal through Parliament for a third time, after MPs could not come to a consensus on Wednesday.
MPs failed to find a majority for a way forward after not one of the eight alternatives came out on top during voting.
ITV News Political Correspondent Carl Dinnen explains the current Brexit situation and what could happen tomorrow in the Commons
Passing the Withdrawal Agreement alone would allow the UK to qualify for an extension in Brexit talks to May 22 under the terms set down by the European Council last week.
But it would not fulfill the requirements of last year's EU Withdrawal Act, which stipulates that both elements must be approved by MPs to pass the "meaningful vote" allowing the deal to be ratified.
David Cameron also said the Government needs to "work together" as "Parliament is stuck".
The former prime minister added Parliament has to "compromise" as "there are four groups in Parliament, people who want the PM's deal, people who want no deal, people who want a second referendum and people who want a softer Brexit".
The former prime minister said he also "supports Theresa May and wishes her well in what she wants to do".
Cabinet Ministers including Michael Gove and Liz Truss have urged MPs to back Mrs May's deal.
However a DUP spokesman has said the party's position on the Withdrawal Agreement remains unchanged.