The Kirk's Church and Society Council has criticised current Tory policy to keep what the government wants from Brexit a closely guarded secret.
Convener Rev Dr Richard Frazer made the remarks in a speech about Britain's place in Europe at a Conference of European Churches event in Budapest, Hungary.
Dr Frazer said: "We must question and resist the position of the current UK Government to refuse the UK Parliament the right to vote on the UK's negotiating position on us leaving the EU.
"There is something deeply inconsistent with the pre-referendum debate that it was time for Westminster to take back sovereignty and that sovereignty now being denied."
Labour and SNP MPs accuse the government of being too secretive about their plans for Brexit and are calling for a House of Commons vote on any deal before the UK leaves the EU.
Dr Frazer also warned against the "politics of hate gaining traction in global politics".
He said: "The list of things that are challenges within Europe just now, whether we are in or out of the EU, are huge and could be terrifying.
"Do not let the politics of hate - the politics of division - the politics of anger become our politics in Europe.
"Hold fast to the politics of hope."
Speaking on Thursday Foreign Secretary Boris Johnson said: "I think the term 'single market' is increasingly useless.
"We are going to get a deal which is of huge value and possibly of greater value. We are going to get the best possible deal for trade in goods and services."
