MSPS at Holyrood have formally refused to grant consent to the UK Government's Brexit power grab legislation.

A Scottish Government motion, making clear that the Parliament "does not consent" to the European Union (Withdrawal) Bill was approved by 93 votes to 30.

READ MORE: Mike Russell's incredible speech in defence of Scotland's parliament

Scottish Brexit Minister Mike Russell said this will "not be the end of the process", as the two governments continue to hold discussions on where currently devolved powers returning to the UK post-Brexit should be held.

If no deal between Edinburgh and London can be reached, Westminster has the option of introducing the Withdrawal Bill against the wishes of the Scottish Parliament.

It has never been forced to overrule Holyrood before, and such a move would spark a constitutional crisis.

With consent having been refused, Russell will now write to Theresa May's de facto deputy, David Lidington, calling on him come to Scotland and "hear the concerns of all parties and to discuss with the Scottish Government and the UK Government any new ideas from any of the parties".

SNP, Labour, Green and LibDem MSPs all voted against consent, with the Scottish Conservatives alone in claiming the changes that have already been made to the Bill go far enough to protect devolution.

Scottish Government ministers have received wide backing over fears that the legislation, as it currently stands, threatens devolution.

It would see Holyrood's powers constrained for up to seven years after the UK quits the EU, and the Scottish Government are seeking changes before they will give it the go ahead.

While Lidington has said he is "open to suggestions that would improve the Bill" the UK Government has repeatedly refused to drop clause 15 – which was formerly clause 11 – from the legislation.

Scottish Labour leader Richard Leonard, who has been calling for cross party talks to resolve the dispute, said: "This means that the vote on consent for the Withdrawal Bill at Holyrood today need not be the final word on this matter – there is still time to fix this mess."

Conservative MSP Adam Tomkins said: "It's profoundly regrettable that we don't have a deal in Scotland to allow us to move on.

"The blame for that lies entirely with the SNP. Nicola Sturgeon has refused to compromise. It's not in Scotland's interests that the SNP prefers picking fights to making a deal."

But SNP MSP Ash Denham responded: "The Tories think they can do whatever they like to Scotland and get away with it.

"The Scottish Parliament has spoken loudly and clearly - it's now up to the UK government to respect that vote and ditch their power grab."

First Minister Nicola Sturgeon later tweeted: "UK Gov wants @ScotParl to take it on trust that they won't act without our consent on devolved powers in future - but within minutes of vote they say they will go ahead with #EUWithdrawalBill without our consent.

"@ScotParl did the right thing today - let's hope UKG now listens."