The long-reigning monarch was welcomed at Al Bateen Executive Airport by Sheikh Mohamed bin Zayed, Crown Prince of Abu Dhabi and Deputy Supreme Commander of the Armed Forces.
Also there to greet him were Sheikh Mansour bin Zayed, Deputy Prime Minister and Minister of Presidential Affairs, Sheikh Mohammed bin Hamad, chairman of Abu Dhabi Airports Company, among other officials.
Sheikh Mohamed and King Abdullah later held talks at Al Shati Palace, where they discussed efforts to boost bilateral relations and exchanged views on the latest regional and global developments.
The two sides confirmed their desire to continue to work together for the betterment of the region and spoke of the importance of building partnerships with the aim of achieving shared prosperity and sustainable development.
Among those to attend the meeting were Sheikh Mansour and Sheikh Mohammed, as well as Humaid Abushibs, chairman of the Abu Dhabi Accountability Authority, and Mohamed Al Mazrouei, undersecretary of the Abu Dhabi Crown Prince's Court.
Bishr Al Khasawneh, Prime Minister of Jordan, Ayman Safadi, Minister of Foreign Affairs and Expatriates, were among the Jordanian delegation.
Sheikha Fatima bint Mubarak, Mother of the Nation, received Queen Rania at Al Bahr Palace during the visit.
The pair discussed the relations between the countries and cooperation in several areas, including the foundation related to women, children and youth in the two countries.
Sheikha Fatima, who is chairwoman of the General Women's Union, chairwoman of the Supreme Council for Motherhood and Childhood, and supreme chairwoman of the Family Development Foundation, briefed Queen Rania on achievements in the UAE in female empowerment.
Sheikha Fatima also hosted a banquet in Queen Rania's honour.
King Abdullah and Queen Rania left the UAE on Tuesday and were seen off by Sheikh Mohamed bin Zayed.
The royal visit will further bolster the long-standing friendship between the Emirates and Jordan.
Earlier this month, Sheikh Abdullah bin Zayed, Minister of Foreign Affairs and International Co-operation, met King Abdullah in Amman.
Sheikh Abdullah emphasised the solid fraternal ties binding the UAE and Jordan and highlighted the aspirations of the leadership of both countries to support the best interests of their people.
Khalifa Al Marar, Minister of State, and Ahmed Al Balushi, ambassador to Jordan, also attended that meeting.
Sheikh Mohamed flew to the Jordanian capital in May for positive talks with King Abdullah.
On arrival, Sheikh Mohamed said the visit "embodies the depth of brotherly relations between the UAE and Jordan and their brotherly peoples", state news agency Wam reported.
King Abdullah last visited the UAE in February, when he met Sheikh Mohamed to examine efforts to forge closer ties and to review developments in the region.