Attempting to persuade MPs, Mr Johnson said the deal allowed the UK to leave the EU bloc "whole and entire" and that it protected the Irish peace process.
"I hope very much now... that my fellow MPs in Westminster do now come together to get Brexit done, to get this excellent deal over the line and deliver Brexit without any more delay," he said.
MPs will debate and vote on whether to accept the deal on Saturday, during a special sitting in the House of Commons. Opposition leaders have indicated they will not throw their weight behind it without a second referendum on Brexit.
If the deal is rejected, attention will turn to whether Mr Johnson will ask the EU for a Brexit delay, as he is compelled to do under legislation. The Benn Act blocks Britain leaving the EU without a deal on 31 October but Mr Johnson seems intent on exiting on that date, deal or no deal.
On Thursday President of the European Commission Jean-Claude Juncker ruled out an extension, saying: "If we have a deal, we have a deal and there is not need for prolongation."
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