The French President fielded a multitude of questions from across the political spectrum with few MEPs challenging him on Brexit, apart from Conservative politician Geoffrey Van Orden.
Mr Macron also took aim at Brexit-backing politicians in the UK for not being able to deliver promises they made during the campaign before the June 2016 EU referendum.
Mr Van Orden quizzed the Frenchman on what kind of future relationship he would sign off on as one of the European Council’s most senior leaders.
In response, Mr Macron told MEPs said there is a “very familiar” solution to creating the UK and EU’s future relationship.
He said: “I have a direct reply to France’s position, in respect to the UK’s post-Brexit situation.
“I’m in favour of the most integrated relations – the closest relations. And, there is a solution we are very familiar with, that’s EU membership.
“It’s the situation that allows perfect access to the single market, access to the freedoms and a very good integration.”
In a stab at the UK Government, Mr Macron added: “I know one thing, we cannot promise something to the people and then claim to give them the opposite.”
The French President expressed his desire to maintain the close working relationship between the UK and EU after Brexit.
He, however, reaffirmed his resistance to for the EU to compromise and offer Britain concessions in order to achieve such a deal.
Mr Macron said: “There is no cherry picking, that is a simple principle.
“I believe in Europe and what we’ve done. The freedoms in Europe, based on solidarity, and full access means full respect to these freedoms.”
The Frenchman’s comments won the plaudits of Labour MEP Derek Vaughan, who praised his response to the Brexit question.
Mr Vaughan, responding on Twitter, wrote: “Impressive performance by Emmanuel Macron at the European Parliament today.
“Good to hear his vision for Europe and his view on Brexit.”