The statement says that in connection with Pyongyang abandoning its nuclear weapons and programs, the United States, Russia, South Korea, Japan, and China have agreed to provide energy assistance to North Korea.
It says the parties are also committed to negotiating a new agreement for lasting peace and stability on the Korean Peninsula.
The statement says the United States affirms that it has no nuclear weapons on the Korean Peninsula and no intentions to invade or attack North Korea.
It says North Korea and the United States have agreed to respect each other's sovereignty and to gradually normalize their relations.
It says North Korea and Japan have also agreed to normalize their relations.
The six countries have agreed to meet again in November to discuss concrete steps to implement the statement.