"The United States congratulates the parties on their signing of the Declaration of Principles for the resolution of the Sudanese conflict in Darfur," State Department spokesman Sean McCormack said at a briefing.
"We urge the parties to undertake these negotiations quickly in order to achieve peace and reconciliation in Darfur," McCormack said.
McCormack also said the United States commended the African Union for the pivotal role played in successfully mediating the talks.
Sudan's government and two Darfur rebel groups ended their fifth round of talks Tuesday with a broad agreement on the troubled north African nation's unity and "justice and equality for all."
A document released at the end of the talks stressed "an effective devolution of powers" to regional authorities which mediators said would be further discussed in the talks scheduled for next month.