"He seems to have made a deliberate decision to set Britain on a collision course with the EU and with Ireland in relation to Brexit negotiations.
"The approach the British Prime Minister seems to now be taking is not going to be the basis of an agreement, and that's worrying for everybody.'
Johnson issued a similar warning in a phone call with the German Chancellor.
Irish Prime Minister Leo Varadkar said Johnson appeared to be taking a "much harder line" than May, but had "demonstrated a degree of flexibility in the past" and wanted to discuss his "real red lines".
Hardline Eurosceptics, meanwhile, warned against a Brexit "betrayal", concerned Johnson could renege on his pledge to abandon May's deal.
On the Remain side, Wales Office Minister Lord Bourne resigned, saying: "I cannot accept a no deal Brexit."
In other developments Johnson cooled speculation of an early election by "absolutely" ruling out a snap poll, saying the public "don't want another electoral event, they don't want a referendum, they don't want a general election. They want us to deliver".