The Prime Minister was back in Yorkshire, for the second time in little more than a week. He delivered a speech in front of northern political and business leaders at the Convention of the North conference in Rotherham.
Speaking in Rotherham at the launch of his plan to re-vitalise the Northern Powerhouse initiative, Mr Johnson said there was the "rough shape" of a deal in place.
However, he was heckled by a member of audience who told him to "get back to Parliament" to sort out "the mess that you have created".
Mr Johnson brushed off the interruption, insisting MPs would have "ample time" to consider Brexit when Parliament returns next month after a five-week suspension.
After being heckled, Mr Johnson insisted there would be "ample time" for MPs to debate any Brexit deal.
"Whatever the shenanigans that may be going on at Westminster, we will get on with delivering our agenda and preparing to take this country out of the EU on October 31," he said.
"There will be ample time for Parliament to consider the deal that I very much hope to do at the EU summit on October 17-18.
During his speech in Rotherham, Prime Minister Boris Johnson pledged more devolution powers. He said mayors in the north of England should have more powers, including over railways.
"What is needed most of all is local leadership, trusting people to take back control and lead as they want to.
"This is not about central government abdicating responsibility, but local leaders have a real power to change the issues."
He continued: "It is time we gave people more of a say in where they live. We're going to do devolution properly and are committed to getting Sheffield City region working, and we're looking at getting a mayor in Leeds and Yorkshire too.
Before he attended the Northern conference meeting he met shoppers at Doncaster's market. The town voted by 69% to leave in the EU referendum but has regarded as a Labour stronghold in past elections.
During his trip to Doncaster market, the Prime Minister told one trader "we're going to get a deal", adding: "That's the plan, anyway. And if we don't, we're coming out on October 31. That's what we're going to do. Here we go, that's democracy."
He showed no reaction as one man told him: "Find a deal here - this is Doncaster, not Europe."
As he walked around stalls inside the market's indoor Corn Exchange, the Prime Minister stopped to speak with one fish seller. With Northern Powerhouse minister Jake Berry watching on, Mr Johnson was heard remarking: "Look at that... lobster claws. We've got to take a few claws out of that Withdrawal Agreement."
The Prime Minister was visiting South Yorkshire after northern politicians made a joint call for more help in their regions from his government.
They identified five "priority areas" for the Government, including the termination of the Northern Rail franchise with more local control of rail services, London-style subsidies for northern bus services, central funding to help people affected by clean air zones to switch vehicles, action on homelessness and more devolved powers putting more money under their control.
The local mayors support two major projects to improve transport in the regions, HS2 and Northern Powerhouse Rail, but called for more money and powers to be devolved from Whitehall to the regions.
Mr Johnson also vowed: "It is time that we gave more people a say over the places where they live, and it is time that we gave you the proper ability to run things your way.
"We are going to maximise the power of the North. And we are going to make sure that it is people here who are in control over the things that matter to them."