The statement read that Secretary of Defence Ashton Carter spoke with Russia's Defence Minister Sergei Shoigu on areas where "perspectives overlap and areas of divergence",
Despite the sharp disagreement both countries have had on the crisis in Syria, Russia said the talks proved both sides had common ground, state media said.
While Moscow has backed the Syrian government, the US sees the removal of President Bashar al-Assad as essential to resolving the conflict.
The US has also been alarmed about reports of a Russian military build-up in Syria, at a time when the Assad government has been losing ground to rebels.
News of the phone call between Mr Carter and Mr Shoigu emerged shortly after Secretary of State John Kerry said the US hoped military-to-military conversations would take place "very shortly".
