US Secretary of State Rex Tillerson and Qatari Foreign Minister Sheikh Mohammed bin Abdulrahman Al-Thani made the announcement at a joint news conference in Doha.
Tillerson in Qatar as leaks spark fresh Gulf tension
Tillerson said the agreement was built on decisions made at a Riyadh summit in May to "wipe terrorism from the face of the Earth".
"As a result of President Trump's very strong call, these commitments for action, will begin immediately on a number of fronts."
Arab states, US to hold talks on Qatar crisis: Egypt
Sheikh Mohammed said Qatar was the first country in the region to sign a bilateral agreement with Washington on counter terror funding and called on what he called the "siege" nations to follow suit and sign their own agreements with the US.
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