"Agreement on them is necessary prior to us adopting a withdrawal agreement".
After a meeting with May, he said: "Northern Ireland is being offered no certainty on Brexit".
Overnight, Brexit Secretary Dominic Raab told the BBC he and others are negotiating "the best deal" on areas of trade and security however, he revealed the government must prepare itself for a "no deal".
Raab replied: "But of course if we have no deal we will want to make sure that we are prepared at the border with the knock-on effects that that would have if on the European Union side they take the worst-case scenario approach which is frankly irrational".
The Amazon UK chief told Raab and other representatives of Britain's largest businesses that this was a worst-case scenario and formed part of his company's contingency planning. We need to make sure that there's some conditionality between the two.
"We ought to be trying to reassure citizens on the continent and also here", he said. That kind of selective snippet that makes it into the media I think is - to the extent that the public pay attention to it - I think is unhelpful'.
"There is obviously an attempt to try and ramp-up the pressure".
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The former Labour MP added, "His problem is not with EU27 or Michel Barnier but with his own Tory party and as a devout pro-Brexit MP he can work what to say to them".
The two sides want to strike an initial withdrawal agreement by late October, in order to give parliament enough time to endorse it, before reaching a broader deal on their future relationship.
British Prime Minister Theresa May's Conservative Party is also deeply split over what Brexit policy to support.
On Friday, Prime Minister Theresa May said the European Union needed to "evolve" its position on the proposals it had put forward regarding the Irish border in its White Paper.
In a speech to politicians and business leaders in Belfast's docklands, May accepted a hard border between Northern Ireland and the Irish Republic once Britain leaves the bloc would be "almost inconceivable", but dismissed the EU's current plan as "unworkable".
The MEP said May had boxed herself into a corner with her Chequers agreement, dismissing the United Kingdom government white paper as "a starting point but not an end deal".
He said that without a change of approach from Brussels there was now the very real prospect of "no deal by accident".