Raab said the white paper would "reassure all of those with concerns".
The White Paper will flesh out the bones of Theresa May's proposals agreed with her Cabinet at the recent Chequers meeting - but which prompted the resignations of two senior ministers.
British Prime Minister Theresa May defended her Brexit plan on Wednesday, saying it delivered on the vote of the people to leave the European Union.
"We deliver that Brexit and we do it in a way that protects jobs and livelihoods and meets our commitment to Northern Ireland", she said.
The delay has been partly blamed on deep disagreements within the Conservative Party over what shape Brexit should take.
The white paper will not be the final deal but is created to be a starting point for more negotiations.
Former foreign secretary Boris Johnson, who said in his resignation that Britain is headed for the "status of colony", has always favoured a "hard Brexit", whereby the United Kingdom would cut all ties with the EU.
Their fellow Leavers on the backbenches are clearly going to kick up a stink if Number 10 won't move, and if they choose to, they have the numbers to defeat the government time and again.
But the government also says visas could play a part in future trade deals, raising alarm bells that Mrs May will do a deal on workers' access to the United Kingdom in order to secure a better trade deal, allowing an important Brexit red line to go rather pink.
Mr Raab, who was the former housing minister, said the proposal will create "free trade area" for goods while allowing the United Kingdom to strike trade deals with other foreign countries around the world, with a particular focus on the service industry.
Parliament will oversee the UK's trade policy and have the ability to "choose" to diverge from the European Union rules.
The legislation returns to the Commons on Monday.
Jacob Rees-Mogg, who leads the European Research Group of Tory MPs, said the amendment would "put into law the government's often stated position that Northern Ireland should be treated the same way as the rest of the country", and "ensure reciprocity of customs collection, and treating the United Kingdom and EU as equals".
No more detail of this was given by officials on Thursday morning, says the BBC's Political Editor Laura Kuenssberg, but they rejected suggestions that it could open the door to freedom of movement for workers.
"They will put into law the government's stated position that we will not be part of the EU VAT regime", he added.