The two sides agreed to reopen Torkham border crossing for vehicles coming in and going out, and resumption of routine activities, said the DG ISPR, Lt Gen Asim Saleem Bajwa in his Twitter message.
They expressed resolve to continue efforts to fight terrorism and bringing lasting peace to the region.
Earlier on May 10, the border crossing was closed in the wake of escalating tensions between security forces of Pakistan and Afghanistan over fencing issue.
The situation became tense on early Tuesday morning when an Afghan border security official, Lieutenant Nisar Ahmad, came to the site and asked the Pakistani border authorities to stop the installation of barbed-wire and fencing near the border.
The Pakistani officials were installing fences to prevent illegal movement on the border.
Reports said personnel of Afghan border police and Afghan National Army took positions and moved their tanks and armoured vehicles close to the Torkham border.
It prompted contingents of Khyber Rifles, Levies and Khassadar personnel to rush to the border and take positions at various spots. They were led by the Commandant Khyber Rifles (KR) Colonel Tariq Hafeez himself.
The incident forced closure of the border crossing.