Parliament President Antonio Tajani welcomed the vote in Strasbourg, eastern France, as "an important step forward" but said MEPs still had concerns about citizens' rights and the Irish border.
The resolution, which passed by 556 votes to 62 with 68 abstentions, includes a stinging rebuke for Britain's Brexit minister David Davis, saying comments he made at the weekend "risk undermining" the negotiations.
Davis caused alarm by telling the BBC on Sunday that a deal struck in Brussels last Friday after six months of tough, at times acrimonious talks was a "statement of intent" rather than "legally enforceable".
The European Parliament will have the final say on any eventual Brexit deal in 2019, but Wednesday's vote was not binding.
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"While I am optimistic as far as the second phase is concerned, we have to ensure that the joint report presented last week is fully and faithfully translated into the wording of the exit treaty," Tajani said.
The parliament's pointman on Brexit, former Belgian PM Guy Verhofstadt, said Davis had given him a personal assurance that London would stick to its commitments.
Davis had told the BBC that Britain would not honour its 35 billion pounds to 39 billion pounds divorce bill as agreed under last week's deal if it fails to secure a future EU trade agreement when it leaves in March 2019.
Negotiating guidelines that EU national leaders are set to adopt in Brussels on Friday will say that the next phase of talks can start only once the divorce commitments are "translated faithfully in legal terms," according to a draft seen by AFP.
The EU has toughened a previous draft so that it now says talks on trade will not start until March, to give the British government time to provide "further clarity" on what it wants from the future relationship.
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