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Boris Johnson says a deal can be agreed by the end of 2020 and has included a pledge in his Brexit bill not to extend any transition period to secure one.
But Simon Coveney says it is "probably going to take longer than a year". [...]
Speaking on the BBC's Andrew Marr programme, Mr Coveney said he accepted the UK was leaving the EU at the end of January, and he hoped for the future deal to "achieve the closest possible relationship" between the two sides.
But he warned there was "no way of the UK... maintaining the same relationship we have today while outside the European Union," adding: "That is the reality of Brexit, I'm afraid."
Mr Coveney said Mr Johnson had "set a very ambitious timetable" in his bill.
"Just because a British parliament decides that British law says something doesn't mean that law applies to the other 27 countries of the European Union," he added.
"The European Union will approach this on the basis of getting the best deal possible, a fair and balanced deal, to ensure the UK and the EU can interact as friends in the future.
"But the EU will not be rushed on this just because Britain passes law."
The deputy prime minister (Tanaiste) said the EU had "constantly warned [Mr Johnson's] timeframe is ambitious, if not unrealistic".
"From an EU perspective, we will try to approach all of these really important and sensitive areas with a sense of partnership and friendship.
"But at the same time, they are complex... [and] in my view, it is probably going to take longer than a year. But we will have to wait and see."[...]