"The papers demonstrate Britain's pragmatic approach to negotiations, and highlight how conversations about our exit and the future deep and special partnership we want with the EU are inextricably linked," a government spokesperson said.
One of the papers focused on Britain's post-Brexit relationship with the European Court of Justice.
Political commentators said the paper left open the possibility of Europe retaining a say on the British law, particularly in any transitional period beyond March 2019 when the two sides part company.
However, British Prime Minister Theresa May had insisted that the jurisdiction of the European court will end with Brexit, with control over the British law returning to Britain.
Another paper discussed facilitating cross-EU trade and business, saying that Britain will seek a special customs deal with the EU after the completion of Brexit.
By setting out Britain's view on the future partnership with the bloc, the papers should help to drive progress on the current topics being discussed, British government sources said.
LABOUR'S U-TURN LOOMS LARGE A DIVIDED KINGDOM
In a dramatic shift, Britain's main opposition Labour Party on Sunday called for the Kingdom to remain signed up to Brussels for up to four years after departure in 2019, opening up a clear divide with Theresa May's ruling Conservatives.
The party's Brexit shadow secretary Sir Keir Starmer said Labour would seek a transitional deal that maintains the same basic terms that Britain currently enjoy with the European Union.
"That means we would seek to remain in a customs union with the EU and within the single market during this period. It means we would abide by the common rules of both," said Starmer in an article published in a local newspaper.
Starmer said a transitional continuation of membership beyond the March 2019 departure date would be as short as possible but as long as necessary, but would also mean accepting the free movement of labour, possibly until around 2023.
Starmer said May's "ideological obsession" with leaving the European customs union and the European single market during a transitional period means the options to deliver a good deal for Britain are diminishing fast.
He said: "The fanciful and unachievable proposals put forward in the government's recent customs paper show the colossal risks it is willing to take with British jobs and the economy."
Meanwhile, Brexit campaigners condemned Sunday the move as an attempt to effectively sabotage the EU exit demanded by last year's in-or-out referendum.
Richard Tice of the pressure group Leave Means Leave, told the Express website that "This is one of the most astonishing U-turns in modern political history.
A Tory spokesman said: "The truth is Labour have no idea what they want and this is a weak attempt to kick the can down the road."
Tory MP Maria Caulfield, who was on the Commons EU Exit Committee, said that only last month Labour leader Jeremy Corbyn was stating that a Labour government would leave the single market.
