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 hit out at George Osborne's suggestions that Brexit would primarily benefit the rich.
The UKIP leader said that it was the less well-off who were most suffering in an appearance on the Peston on Sunday show today.
"It is those at the poorer end of the scale who struggle to get their kids into schools, who can't get GP appointments and whose children and grandchildren cannot get on the housing ladder."
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"