NATO has agreed to a "conditional and graduated re-engagement" with Russia, the alliance's secretary general says.
Jaap de Hoop Scheffer said talks with Moscow, which were frozen over its war with Georgia in August, would resume.
The NATO-Russia Council is not being restored, but the Nato chief said lower-level talks would take place.
Foreign ministers meeting in Brussels also reiterated their support for eventual Nato membership for Georgia and Ukraine.
But NATO is deeply divided on the subject, and did not offer the countries their desired membership action plan (MAP).
Moscow strongly opposes their ambitions to join the alliance, and some countries, like Germany, France and Italy, fear offering them MAPs would provoke Russia, correspondents say.
Instead, ministers encouraged Tbilisi and Kiev to pursue reforms needed to join the alliance, without any timetable for entry.
Mr. De Hoop Scheffer said that all previous decisions made by Nato heads of state regarding Georgia and Ukraine still stood.
"That includes very much that they will one day be members, if they so wish of course, and important to add, when they meet NATO standards," he said.