The Brexit Secretary said that British people had not voted for “confusion” when they took part in last year’s referendum.
As a result, he said, Parliament should respect the will of the people when it decides whether to back the Government on the European Union (Withdrawal) Bill.
Labour has said it will vote against the legislation, arguing so-called “Henry VIII” powers in the Bill amount to a “power-grab”.
The powers are named after a statutory instrument used by the Tudor king to force through new laws without full parliamentary scrutiny.
Sources estimate around a dozen Labour MPs from Leave-backing constituencies could rebel against Jeremy Corbyn’s orders.
Liberal Democrats, who will oppose the legislation, have urged the Labour leader to sack any frontbenchers who defy the whip.
Several Tory MPs have expressed how unhappy they are with the Bill but are expected to back it after the conclusion of its second reading, late on Monday or in the early hours of Tuesday.
But it is understood they are prepared to back amendments in the future, which could leave the minority Government having to make concessions to avoid defeat
Ahead of the debate, Mr Davis said: “A vote against this Bill is a vote for a chaotic exit from the European Union.
“The British people did not vote for confusion and neither should Parliament.
“Providing certainty and stability in the lead up to our withdrawal is a key priority.
“Businesses and individuals need reassurance that there will be no unexpected changes to our laws after exit day and that is exactly what the repeal bill provides.
“Without it, we would be approaching a cliff edge of uncertainty which is not in the interest of anyone.
“That’s why I’m urging all MPs of all parts of the UK to come together in support of this crucial legislation so that we can leave the European Union safe in the knowledge that we are ready for day one of exit.”
The Lib Dems’ Brexit spokesman Tom Brake said: “The chance to inflict a historic defeat against the Government’s hard Brexit plans rests on whether Jeremy Corbyn can show leadership and keep his party united.
“Corbyn must show the same ruthlessness towards his pro-Brexit MPs as he has to pro-European ones in the past.”
Mr Corbyn sacked three frontbenchers who defied the party whip and failed to vote for an amendment tabled by Chuka Umunna in favour of staying in the single market.
The Bill overturns the 1972 Act which took Britain into the European Economic Community.
In doing so, it incorporates EU laws onto the UK statute book.
The votes are likely to take place in the early hours of Tuesday morning.
On the general issue of Brexit, shadow health secretary Jon Ashworth told Sky News on Sunday that Labour had not performed a u-turn by seeking to remain in the single market during a transition phase as the party had only ever sought to protect jobs and the economy.
He said: “We are not blocking Brexit. But what we are trying to do is get a deal that safeguards jobs and the economy.”