Mr Donohue added Ireland will only back a Brexit delay if the UK Government provides a “very clear rational”. Should a hard Brexit take place he insists Ireland will not erect barriers along the Northern Irish border. The senior Irish politician made the comments during an appearance on BBC Newsnight.
Mr Donohue commented: “I do believe Brexit is going to happen.
“What I want is a Brexit that is least damaging to the interests of Ireland and Europe and I believe the agreement that is on the table allows that to happen.”
Parliament voted to extend Article 50 on Thursday, after Theresa May’s Brexit deal was rejected for a second time earlier this week.
However any extension requires the unanimous consent of the other 27 EU member states.
The Irish Minister suggested this would not be grated without assurances from the UK.
He said: “If the British Government decides that they are going to look for an extension there needs to be very clear rational for this, and the European Union need to be really clear that the next phase is not just going to be a continuation of the last number of years.
“We need to be clear what that period will be for and how it will be used.
“It really is up to Prime Minister May to say if for any reason this phase comes to a different kind of an end, what do they want to do inside an extension period.”
Mr Donohue added he hopes Parliament does vote to accept Mrs May’s withdrawal agreement later this month.
Parliament voted against the deal for a second time on Tuesday by a margin of 149 votes.
Both hard-line Conservative eurosceptics, and the Government’s DUP allies, are continuing to oppose the agreement.
If there is a hard Brexit Mr Donohue claimed Ireland would oppose any additional controls on the border with Northern Ireland.
He asserted: “We’ve been clear that we will not be part of any plans that will erect a hard border between the two jurisdictions.”