David Davis met Guy Verhofstadt, the EU legislature's lead Brexit negotiator, and Manfred Weber, a conservative ally of German Chancellor Angela Merkel who leads the biggest bloc in the parliament
The European Parliament must approve Britain's divorce deal.
The meetings were part of preparations before British Prime Minister Theresa May triggers negotiations under Article 50 of the EU treaty, which she has pledged to do by March. They focused on procedure, but there were hints of clashes to come.
Weber voiced impatience with a lack of clarity from May on what she will ask for.
In notably harsh terms, he said a suggestion from Davis that Britain remain in or closely tied to the EU's single market while rejecting free immigration by Europeans or the oversight of EU courts was not workable.