France and US have made efforts to end a row which started last week with the announcement of the Aukus defence pact between the US, the UK and Australia.
The pact cost France a deal worth $37bn (£27bn) to build submarines for Australia.
Paris said it found out only hours before the public announcement.
The American and French presidents have now issued a joint statement saying the situation would have benefited from open consultations between allies.
Joe Biden and Emmanuel Macron spoke by phone for half an hour on Wednesday. They will also meet in Europe at the end of next month.
French anger was palpable – the French defence minister called it a “stab in the back”.
In a rare step among allies, Mr Macron ordered the recall of the French ambassadors to Washington and Canberra.
However, the ambassador to Washington will now return to his post. There was no word on whether the ambassador to Canberra would do the same.
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President Biden reaffirmed the importance of French and European engagement in the Indo-Pacific region.