WASHINGTON — Israeli and Palestinian negotiators will resume peace talks here on Monday night, the State Department said in a statement on Sunday afternoon. It will be the first time that the two have held direct talks since 2010.

Clearing the last obstacle to resuming peace talks, the Israeli cabinet voted Sunday to approve the release of 104 Palestinian prisoners, an unpopular move with many Israelis.

Secretary of State John Kerry then spoke with Mahmoud Abbas, the president of the Palestinian Authority, and Prime Minister Benjamin Netanyahu of Israel to formally invite them to send their negotiating teams to Washington. “Both leaders have demonstrated a willingness to make difficult decisions that have been instrumental in getting to this point,” Mr. Kerry said in a statement. “We are grateful for their leadership.”

The goal of the negotiations will be to establish a Palestinian state alongside Israel with agreed-upon borders and security arrangements.