Prime Minister Theresa May has struck a last minute deal with the EU to move Brexit talks on to the next phase.
There will be no “hard border” in Ireland and EU citizens in the UK, and UK citizens in the EU, will see their rights protected.
European Commission President Jean-Claude Juncker said “the breakthrough we needed” had been achieved, after months of negotiations.
Talks on post-Brexit trade between the UK and EU can now go ahead.
Northern Ireland’s Democratic Unionist Party, whose opposition on Monday led to talks breaking down, said there was still “more work to be done” and how it votes on the final deal “will depend on its contents”. Mrs May depends on the party’s support to win key votes in Westminster.
Speaking at an early morning press conference in Brussels, Mr Juncker said: “Today’s result is of course a compromise.”
Negotiations had been “difficult for both the UK and the EU”, he added.
Theresa May said getting to this point had “required give and take from both sides”.