It comes as the Government vowed to push ahead and deliver the deal, despite MPs voting to withhold their approval in a major set back to its plans.
The Prime Minister was required by law to ask the EU for an extension after MPs voted in favour of Sir Oliver Letwin's amendment in the Commons yesterday.
But in a move which sparked a major backlash, Boris Johnson got a senior diplomat to send an unsigned photocopy of a letter asking the EU for an extension.
Speaking about the deal on the BBC's Andrew Marr show on Sunday, Mr Raab said: "notwithstanding the parliamentary shenanigans, we appear to have now the numbers to get this through."
He said he was "confident" Britain will leave the EU on October 31 before defending Boris Johnson for delivering on his promises.
"The Prime Minister has done exactly what he said he was going to do. He has complied with the law so Parliament's request has been conveyed to the EU."
"His view hasn't changed his mind," he added. "Parliament can't muzzle the Prime Minister."
The Foreign Secretary went on to say there were "many people in the EU" who were "deeply uncomfortable" about a further delay to Brexit.
He then urged MPs to "get on, get it through the House of Commons, and move on."
It comes after his colleague, Michael Gove, Chancellor of the Duchy of Lancaster, accused those who backed the Letwin amendment of voting "explicitly to try to frustrate this process and to drag it out".
He told Sky News' Sophy Ridge on Sunday, the government would now trigger Operation Yellowhammer, its contingency plan to handle a no-deal Brexit, because there was no guarantee the EU would grant an extension.
The government is set to ask for a further meaningful vote on Monday, presenting MPs with a binary choice to approve or oppose the deal in principle.
However, it will be up to Commons Speaker John Bercow to decide whether to allow that vote.