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He appealed to the 9.3 million people who voted Labour at the last general election to turn out on 23 June, saying many of their jobs are dependent on trade with Europe.
The Labour leader has been urged to make a bolder case for EU membership.
Apart from one major speech, Mr Corbyn has kept a low profile on the issue.
The UK's EU vote: All you need to know
While all but a handful of Labour MPs support staying in the EU, Mr Corbyn is regarded as the most Eurosceptic leader of the party in a generation. He has called for a more "social Europe" focused on workers rights and social solidarity.
Ahead of the launch of Labour's pro-EU campaign battle bus, Mr Corbyn told The Times the UK faced a "historic choice" on 23 June and he believed the UK would be stronger to face the challenges of the 21st Century "together".
At the launch, Mr Corbyn said despite his "many criticisms" of the EU, he was fully behind the Remain campaign because membership had helped to "protect" workers' rights and the environment.
"I believe we have to vote to Remain in order to defend investment, to defend jobs, to defend the environment, to defend workers' rights," he said.
"We see it as an act of solidarity with other people that think like us across Europe.
"Going it alone won't help them and won't help us."
The Labour leader also said immigration did "not necessarily" put a strain on public services or have a negative impact on wages.
Labour In, led by former Home Secretary Alan Johnson, is embarking on a grassroots campaign targeting students, factory workers and young parents across the country, with a campaign bus visiting 100 towns and cities across the country.
Mr Johnson said being in the EU and having access to the single market was "crucial" to the UK's prosperity.
"To pretend that it isn't and we can wander off into a sepia-tinted world of the 1950s is just a complete abrogation of responsibility," he said.
Mr Johnson also disputed claims by Leave campaigners that the UK sent Â£350m a week to Brussels.
But even if that same amount was redirected to the NHS, it would be a "drop in the ocean", he added.
Fellow Labour MP Gisela Stuart, who chairs the Vote Leave campaign group, said his remarks showed the Remain campaign was "out of touch".
"The Remain campaign wants the elites to have more power and money, and not to give back control to the British people," she said.
"Patients struggling to get care on the NHS will rightly think that they are completely out of touch when they claim that Â£350m - enough to build a new hospital every week - is just a drop in the ocean."
The majority of trade unions are recommending their members vote to remain in the EU although Labour Leave, whose members include Ms Stuart and Frank Field, say leaving the EU will allow more money to be spent on the NHS and other public services.
Labour votes will be crucial if the Remain side is to win the referendum on EU membership, Jeremy Corbyn has said as he launched the party's campaign.

Sources close to the UK foreign secretary said the two men had spoken at about 2100 GMT for ten minutes about building a strong UK/US relationship.
The BBC understands it was Mr Pence's first call to an overseas politician.
On Thursday Mr Johnson said critics of Mr Trump's victory should end the "collective whinge-o-rama" and be positive about the possibilities.
Mr Johnson, who last year suggested that Mr Trump had been "out of his mind" for suggesting a ban on Muslims entering the US, has insisted the UK should be optimistic about the future following Mr Trump's victory.
At a press conference on Thursday, before speaking to Mr Pence, he said it was time to be "overwhelmingly positive about the possibilities" of a Donald Trump presidency and described the US president-elect as a "deal maker".
"I believe that this is a great opportunity for us in the UK to build on that relationship with America that is of fundamental economic importance to us, but also, great importance for the stability and prosperity of the world," Mr Johnson said.
"I would respectfully say to my beloved European friends and colleagues that it's time that we snapped out of the general doom and gloom about the result of this election and collective 'whinge-o-rama' that seems to be going on in some places."
Meanwhile Downing Street has rejected claims that ministers will be forced to use UKIP leader Nigel Farage as a "go-between" with the new Trump administration.
The Daily Telegraph reported ministers would have to seek the advice of UKIP's interim leader because they have no links to the president-elect.
But sources close to the prime minister told the BBC that Mr Trump, who defeated Hillary Clinton in a huge upset, favoured a relationship with Theresa May as close as that of former UK and US leaders Margaret Thatcher and Ronald Reagan in the 1980s.
Mr Trump invited Mrs May to visit Washington during a phone call on Thursday in which both stressed the importance of UK/US relations.
BBC political correspondent Iain Watson says Downing Street has been "hugely irritated" with the claim ministers were seeking the services of Mr Farage in forging links with the Trump administration.
"The story is politically important because Mrs May does not want to give UKIP an opportunity to bask in the 'reflected glory' of a Trump victory," he adds.
International Trade Secretary Liam Fox has also insisted he has no intention of using Mr Farage as a go-between.
However, BBC Newsnight's political editor Nicholas Watt says Mr Fox has the best connections in Westminster with established Republicans but has never met Mr Trump.
He says it would not be a surprise if Mr Fox and Mr Farage had an informal conversation before the minister contacts Mr Trump's team.
A source close to Mr Farage made it clear that he had no intention of working with Conservative ministers.
Meanwhile, senior Conservatives have been swift to strike a more emollient tone towards Mr Trump since Tuesday's election.
US Vice President-elect Mike Pence called Boris Johnson on Thursday night, the BBC understands.

The pair were sent to the stands in the 11th minute of the first leg at Fratton Park after allegedly using improper language and/or behaviour.
The game finished 2-2, with the Pilgrims winning the return game 1-0.
Both have accepted the fine, which is the standard penalty for the offence.
Plymouth are in the play-off final at Wembley later this month where they will play AFC Wimbledon, who beat Accrington in the other semi-final on Wednesday night.

Portsmouth boss Paul Cook and Plymouth Argyle coach Paul Wotton have each been fined £500 after admitting an FA misconduct charge from their League Two play-off semi-final last week.

