At an EU referendum event, the Leave campaigner advocated an amnesty for illegal immigrants who have been in Britain for 12 years.
Mr Johnson also called for an Australian-style immigration points system would enable Britain to "take back control" of its immigration policy.
Vote Leave campaigner Boris Johnson has said he is pro-immigration and supports an amnesty for illegal immigrants who have been in the UK for more than 12 years.
Speaking at an EU referendum campaign event today, Mr Johnson said: "I am the proud descendant of Turkish immigrants.
"I am in favour of an amnesty for illegal immigrants who have been here for more than 12 years unable to contribute to this economy, unable to pay taxes, unable to take proper part in society."
Mr Johnson said an amnesty would be humane and economically rational, and would enable Britain to "take back control" of immigration.
He added that introducing an Australia-style immigration points system would enable Britain to deal "fairly and justly" with every part of the world and "neutralise" extremists opposed to immigrants.
In a 2013 interview, Boris Johnson says he wants Britain to be able to 'trade freely with our European friends'.
The Mail on Sunday and the Observer come out for remain while the Sunday Times and Sunday Telegraph back a Brexit.
David Cameron and George Osborne have issued an impassioned appeal for a vote for Remain, warning that Brexit would be the "big mistake"