Sheikh Mohamed bin Zayed and King Abdullah II on Tuesday emphasised the strength of the relationship between the two countries, including in terms of security as they "stand in solidarity with one another in the face of all challenges".
The two met in the capital after the Crown Prince of Abu Dhabi and Deputy Supreme Commander of the Armed Forces greeted the king on his arrival.
"The UAE is closely co-ordinating with Jordan on the current regional developments to protect the supreme interests of Arab countries and ensure security and stability in the region, including safeguarding the freedom of navigation," Sheikh Mohamed stated, according to Wam.
King Abdullah reaffirmed that the security of the UAE and wider Gulf region is an integral part of Jordan's own security.
Their foreign ministers will ensure proper co-ordination on any stances taken towards the various challenges besetting the region. It has also been decided that the two countries will conduct joint military exercises in the foreseeable future, Wam reported.
The Jordanian ruler received a guard of honour after landing at Al Bateen Airport in Abu Dhabi on Wednesday.
The two men walked side by side down a red carpet rolled out on the tarmac to welcome the visit of the king, in a demonstration of the strong friendship between Jordan and the UAE.
The king, along with his son, Crown Prince Hussein, later performed prayers alongside Sheikh Mohammed.
Sheikh Mohamed and the king also attended a lecture, entitled 'Changing the global face of children's medicine', presented at Al Bateen Palace.
King Abdullah departed Abu Dhabi later on Tuesday evening.
Last November, the Crown Prince held talks with the king during a visit to Amman.
During his tour, the UAE signed a $100 million (Dh367.3m) grant to support tens of thousands of Jordanian businesses.
Sheikh Mohamed and King Abdullah witnessed the signing of the agreement between the Khalifa Fund, an organisation that supports entrepreneurs in the UAE, and Jordan's Crown Prince Foundation, at Al Husseiniya Palace.