Brexit has not “played out” like it was promised to the public, has weakened the economy and the current deal is not good enough, Andy Burnham has said, while ruling out any major changes in the current parliament.

The prime minister said Britain had ended up with a “harder Brexit than was proposed in the referendum campaign” and it had not helped to control the small boats crisis. Backing the home secretary’s tougher immigration rules , he said Brexit had weakened the UK’s ability to control its borders as it could no longer send people back to Europe.

When asked directly on Monday whether he wanted Britain to rejoin the EU, Burnham told Good Morning Britain: “I’ve said I’m going to be honest and say, in my lifetime I would like to see that happen, but I am not going to move ahead of the public.…