David Lidington has called on the Scottish Government to "think again" after MSPs refused to give their consent to the EU Withdrawal Bill.
The Minister for the Cabinet Office told MPs in the Commons: "My door remains open to consider any practical proposal they want to bring forward even at this stage."
His comments came as MSPs voted 93 to 30 against consent to the Withdrawal Bill and Scottish Brexit Minister Mike Russell said: "The UK Government must respect the will of the Parliament."
But the Tories hit out, claiming it was "patently obvious that Nicola Sturgeon wants a political crisis to provide cover for her independence drive".
READ MORE: SNP leadership to directly challenge Theresa May over Brexit 'power grab'
Speaking during Cabinet Office questions, the SNP's Patrick Grady (Glasgow North) said: "The Conservatives are isolated in the Scottish Parliament... four out of five parties in the Scottish Parliament last night voted by an overwhelming majority to withhold legislative consent for the EU Withdrawal Bill.
"How would this Government ignoring the decision of the democratically elected Scottish Parliament preserve the integrity of the UK?"
Mr Lidington replied: "I've been very heartened by the degree of cross-party support in the Welsh Assembly and in the House of Lords for the sensible compromise the Government has put on the table.
"As I've said repeatedly to Scottish ministers my door remains open to consider any practical proposal they want to bring forward even at this stage, but I would urge the Scottish Government to think again."
The SNP's Gavin Newlands (Paisley and Renfrewshire North) asked if Mr Lidington was "ashamed and not just a tad embarrassed on the Scottish Conservatives' behalf".
Mr Lidington said: "He and his party support continued membership of the EU, the powers that are in the Bill allow the temporary carrying forward for a time-limited period of those frameworks that already exist and to do so when it is in the interests of Scottish jobs and of Scottish consumers. Where is his objection to that?"
He added: "The constitutional integrity of the UK is of vital importance to both the security and prosperity of all four nations. That is why the EU Withdrawal Bill respects devolution while allowing for common approaches to be maintained to secure the common market of the UK."
Mr Lidington said he was "obviously disappointed" that so far the Scottish Government had not joined the Welsh Government in agreeing to the "sensible compromise that is on the table", adding it was clear the UK common market mattered a great deal to the prosperity of Scottish businesses.
Tory Colin Clark (Gordon) asked: "Does he share my regret that Nicola Sturgeon wants to damage the integrity of the UK?"
READ MORE: SNP leadership to directly challenge Theresa May over Brexit 'power grab'
Mr Lidington said: "Constitutional nationalist politicians are quite entitled to pursue their political objectives, the Government's responsibility is to ensure that Scottish businesses and Scottish consumers are protected and that they don't risk extra burdens or higher prices as a result of obstruction in the UK internal market."
While the UK Government could force the Bill through against the wishes of Holyrood, such a move could spark a constitutional crisis.
Westminster has never introduced legislation that covers devolved areas without the approval of the Scottish Parliament.
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