Ethiopia and Eritrea are no longer at war, the neighbours said in a joint statement Monday, a day after their leaders held a historic meeting in Asmara.

Quoting from a "Joint Declaration of Peace and Friendship," Eritrean Information Minister Yemane Gebremeskel said on Twitter the "state of war that existed between the two countries has come to an end. A new era of peace and friendship has been ushered (in)."

"Both countries will work to promote close cooperation in political, economic, social, cultural and security areas," Mr Yemane added.

He said the agreement was signed by Ethiopian Prime Minister Abiy Ahmed and Eritrean President Isaias Afwerki on Monday morning at state house in Asmara.

Images of the ceremony showed the two men sharing a wooden desk, backed by their nations' flags, as they simultaneously signed the document.

The declaration echoed comments made by Mr Abiy at a dinner hosted by Mr Isaias late Sunday, where he said diplomatic, trade, transport and communications ties would be re-established and borders re-opened.

"We agreed that the airlines will start operating, the ports will be accessible, people can move between the two countries and the embassies will be opened," Mr Abiy said.