The partial lifting of restrictions comes despite concern that Britain has the second-highest death toll from the virus in the world - and confusion about the new rules.
The 50-page document begins with a foreword from Johnson admitting that the United Kingdom has "paid a heavy price" during the coronavirus crisis, but touting the nation's "success" at beating back the virus and urging the "utmost care" as restrictions are gradually eased.
Mr Johnson said people in England would also be encouraged to wear face coverings in enclosed places, such as in some shops and on public transport.
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Mayor Sadiq Khan posted a message on Twitter to tell Londoners not much had changed.
London's Waterloo station, usually the country's busiest train hub, remained largely quiet on Monday morning but commuters venturing back to work said they anxious services would soon be thronged again.
Paid nannies and childminders can return to work in people's homes in England, as long as they are not showing symptoms of coronavirus.
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Such visas are typically open-ended and do not need to be extended, unless the employee moves to a different company or medium. Foreign Ministry spokesperson Zhao Lijian made the remarks at a press briefing when asked to comment on the US move.
The Government has said cleaners can return to work in other people's homes. "There was no two-metre spacing".
A construction site opening its gates in Westminster in London.
But the government's messaging has been criticized by opposition lawmakers as sowing a sense of confusion for ordinary citizens and business, after a week in which headlines in the national press indicated that Johnson's address would herald a far more substantive lift to the lockdown measures now in place.
The government has faced a barrage of criticism that its new guidance - "Stay alert, control the virus, save lives" - was confusing compared with the previous message - "Stay at home, protect the NHS, save lives".
Scottish First Minister Nicola Sturgeon said the only modification she was making to lockdown measures was to allow people to exercise more.
The British government's quarantine plans were also unclear: Johnson said on Sunday it would apply to air travellers, though it was unclear whether it was broader.
In other changes - which have not been adopted by the devolved administrations in Scotland, Wales and Northern Ireland - people will be allowed to take unlimited outdoor exercise and to sunbathe in parks and public places. Fines for those who break the measures, which are still limited to spending time with members of your own household, will be increased, he said.
Essentially, it means that from Wednesday, 13th of May, people could for instance meet their grandparents individually, but not at the same time, and they must stay at least two meters away from them at all times.