"Now we have to move into a different period where we learn to live with the virus."
Face masks are set to be made optional in the UK from 19 July as all legal restrictions are expected to be lifted.
Minister Robert Jenrick told the BBC's Andrew Marr that people would "come to different conclusions" over masks, but he trusted people "to exercise good judgement" as restrictions are expected to be lifted in England on 19 July.
When asked on the BBC's Andrew Marr Show if he believed all restrictions would lift on 19 July he said: "It does look as if, thanks to the success of the vaccine programme, that we now have the scope to roll back those restrictions and return to a normality as far as possible."
He added that cases may continue to rise if the restrictions are lifted, however, he believes that "we now have to move into a different period where we live with the virus".
"But we now have to move into a different period where we learn to live with the virus, we take precautions and we as individuals take personal responsibility," he said.
"I can't make that commitment this morning because the prime minister will make an announcement in the coming days - it does look as if the data is in the right place," he continued.
The Scottish government recently said there would be a continued need for face masks after restrictions lift in the area on 9 August.
Scotland, Wales and Northern Ireland are in charge of their own coronavirus rules, however, Jenrick added on Sunday that he would like to see the whole union to move "as one" on the easing of restrictions.
