The latest round of talks in Brussels ended with Mr Barnier claiming there had been no "decisive" progress on key issues and suggesting there was a lack of trust as a result of the UK's refusal to accept financial obligations.
Responding to Mr Barnier's comments about "educating" the EU on the price of leaving the EU, Mr Johnson said: "Of course there's going to be hard negotiations ahead, but in the end what I think he wants and what David Davis and Theresa May and I want, and what everybody in the United Kingdom wants, is a deal that works for both sides and a deal that delivers the maximum economic prosperity for both sides".
"Bluntly, I think it looked a bit silly, because there plainly were things that we've achieved", Davis told the BBC.
The suggestion there is that the European Union were "trying to play time against money" - a pressure to which he vowed not to succumb.
"The Commission puts itself in a silly position if it says nothing has been done", he added, stressing he was not branding Mr Barnier personally "silly".
Barnier demanded on Monday that London start "negotiating seriously" as a March 2019 deadline looms, with talks stalling over what comes first - the divorce settlement or Britain's future relationship with the bloc.
But turning to the upcoming second reading of the EU Withdrawal Bill (previously known as the Great Repeal Bill), Mr Davis implied the clock was very much ticking and there was no time for messing around.
His comments came as Theresa May sought to prevent a Tory rebellion ahead of the first Commons votes on the Brexit legislation.
Mr Davis insisted the legislation "is about ensuring continuity" and urged Remainers and Leavers alike to support it.
On Thursday, Mr Davis said the third round of Brexit talks had seen "tough" discussions regarding the size of the UK's exit bill.
They're trying to play time against money. Thankfully, fourteen months after the British people decided they wanted the United Kingdom to leave the European Union, the debate is moving on to what happens after we leave.
These reassurances that Britain's payments to the European Union won't continue into the medium or even long term by Mr Davis may yet be frustrated, however, after European Union budget commissioner Gunther Oettinger said: "the European Union expects the British to hold commitments".