The agreement was signed by Bermudez and U.S. ambassador in Bogota William Brownfield.
The exact text of the agreement, which the United States says is aimed at boosting cooperation in fighting guerrillas and tackling rampant drug trafficking, will be disclosed next week, Bermudez said.
He said that the military bases agreement does not need to be approved by U.S. Congress, which will receive a report of agreement that has been criticized by Bolivia, Ecuador and Venezuela.
"The agreement includes such important things as that there will be no U.S. jurisdiction or courts martial in Colombia and Colombia may participate in investigations conducted against American officials," said Bermudez.
Since the agreement emerged in July, the tensions have flared in Latin America. Venezuela, Ecuador and Bolivia have claimed the planned U.S. military deployment is suspiciously large for its stated purpose, and Venezuelan President Hugo Chavez has warned that "winds of war" were blowing across the continent.
The United States has been in good relationship with Colombia and has a security agreement with the country.
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