JERUSALEM — Israel and Turkey agreed on Sunday to resume full diplomatic relations, ending a bitter, six-year rift between the once-close regional allies, according to Israeli and Turkish officials.

Prime Minister Benjamin Netanyahu of Israel was scheduled to announce the deal in Rome on Monday, according to the Israeli official, who spoke on the condition of anonymity from Rome because the accord had not yet been formally made public. The Turkish government planned to make a parallel announcement in Ankara.

The two countries fell out after a deadly confrontation in 2010 between Israeli commandos and Turkish activists on a passenger vessel that tried to breach Israel’s naval blockade of the Gaza Strip, the Palestinian coastal territory that is under the control of Hamas, the Islamic militant group.

The ship, the Mavi Marmara, was part of a flotilla carrying aid to Gaza when Israeli naval commandos rappelled onto the ship’s deck and killed nine activists after being met with violent resistance. A 10th activist later died of his wounds.