The security document aims at quelling fears that Britain, which has the largest defence and development budgets in Europe, could use defence co-operation as leverage in the negotiations with Brussels.
But in a notable charm offensive, Foreign Secretary Boris Johnson praised the EU's success in achieving foreign policy goals - from bringing Iran to the negotiating table over its nuclear programme, and leading the united response to Russian aggression in Ukraine.
The UK is one of only four European NATO members to meet the target of spending 2% of GDP on defence.
"After we leave the European Union we will continue to face shared threats to our security, our shared values and our way of life", Davis said in a statement.
The organisation said some 180,000 traders would need to make customs declarations after Brexit, the introduction of which it estimates could cost GBP4bn per annum. The government was confident of winning that vote but a number of Conservative MPs urged ministers to consider amendments during the committee stage next month.
British MPs voted in favour of a bill Tuesday to end Britain's European Union membership, a key moment for the government's Brexit strategy despite opposition accusations of an unprecedented power grab.
It came just hours after the Commons passed the EU (Withdrawal) Bill, a crucial piece of legislation that severs ties with the bloc by ending the supremacy of EU law in Britain.
It is the next step in implementing last year's historic referendum vote to leave the European Union, after Prime Minister Theresa May formally notified Brussels of Britain's withdrawal in March.
"We won't be "members" of the single market after the transition". The union's national secretary Justin Bowden said: "GMB will never support such proposals and we will fight to defend the decent jobs our members and their communities depend on. That could be achieved by a new relationship with the single market or a bespoke trade deal with the European Union, which was what Jeremy was referring to", it said".