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.
Nigel Farage has declined to repeat warnings that remaining the the EU could prompt Cologne-style sex attacks as he seemingly attempted to row back from a row.
The UKIP leader was asked if he stood by his highly controversial warnings of sex attacks on women by migrants on the Peston on Sunday show.
He replied: "The real point I'm making that part of an EU we've lost control of who can come into our country."
Mr Farage also insisted that he had not warned of rising violence within Britain as a result of migration levels; saying his comments had referred to other parts of Europe.
When asked if he was guilty of stirring up hatred, Mr Farage replied "I think I've been a victim of it to be honest with you." However he did concede that the Leave campaign had lost momentum as the referendum date approaches.
He said that he would be comfortable with migration level of around 30-50,000 people a year but said the most important thing was to start a debate.
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"