Turkish Foreign Minister Mevlut Cavusoglu said the return of ambassadors was "important to improve bilateral ties", while vowing to "defend" Palestinian rights.
It commits the United States to "never to allow Iran to acquire a nuclear weapon", stating that it "is prepared to use all elements of its national power to ensure that outcome".
The kingdom has repeatedly said it would stick to the decades-old Arab League position of not establishing official ties with Israel until the conflict with the Palestinians is resolved.