Labour's Brexit spokesman Sir Keir Starmer said MPs "cannot be bystanders" while the next prime minister "tries to crash the United Kingdom out of the European Union without a deal and without the consent of the British people".
Johnson added: "I think it is right for our great country to prepare".
Mr Javid has said he would be prepared to leave without a deal if the alternative was no Brexit at all.
In his speech, Johnson skipped over an underwhelming two-year stint as foreign minister and instead drew on his eight years as mayor of London, which he said gave him the experience to govern.
He warned failure that to honour the referendum vote risked handing power to Jeremy Corbyn and Labour at the next general election.
"After three years and two missed deadlines, we must leave the European Union on October 31", he said as a heckler repeatedly yelled "Bollocks to Boris" from outside the Royal Academy of Engineering, just off The Mall in central London.
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Mr Johnson, who is the clear front-runner in the leadership race, had to fend off a series of reporters' questions about his past character and record in office.
Questioned about his comment that Muslim women in full face veils looked like "letter boxes", he said voters were alienated by politicians using "bureaucratic platitudes".
However he rejected past charges of untrustworthiness levelled at him by colleagues and rivals.
"Occasionally some plaster comes off the ceiling as a result of a phrase I may have used, or indeed as a result of how that phrase has been wrenched out of context and interpreted by those who wish for reasons of their own to caricature my views", he said on Wednesday.
The motion aimed to give MPs full control of the commons agenda on 25 June.
The motion had the backing of former Conservative minister Oliver Letwin and the leaders of the Scottish National party, Plaid Cymru, the Liberal Democrats and the Greens.
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Arrangements have been made to warn people of the cyclone through announcements in media and bulk SMS. In addition, the rescue teams of Army, Coast Guard, SDRF and BSF are also in the readiness.
Sir Bill told the Press Association: "They are causing a breakdown of our democracy".
"I have the background, ideas and positive vision for the future [to] keep Jeremy Corbyn far away from 10 Downing Street", he said.
North West Cambridgeshire MP, Conservative Shailesh Vara, voted against the motion, as did Brexit Secretary and North East Cambridgeshire Steve Barclay, South Holland and The Deepings MP John Hayes and Corby MP Tom Pursglove.
In normal circumstances, the government controls business in the House of Commons.
"On that date I should have voted for a deal".
"It is only if we have the guts and the courage to get ready for it (no-deal) that we will carry any conviction in Brussels to get the deal that we need", he said.
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Former tennis star Sue Barker was served an injustice after her nationality was assigned incorrectly on the French Open trophy. Barty's breakthrough win at the French Open provides an opportunity to change this pattern of media coverage .
May has delayed Brexit twice - most recently to October 31 - as she tried and failed to get her divorce deal through parliament.