Prince Faisal Bin Farhan Al Saud speaks during a news conference at GCC Summit in Al-Ula. Reuters

Full ties have been restored between Qatar and the four nations that severed relations with Doha in a rift that began over three years ago, Saudi Arabia's foreign minister said Tuesday.

"What happened today is... the turning of the page on all points of difference and a full return of diplomatic relations," Prince Faisal Bin Farhan told a press conference at the conclusion of a landmark regional summit in Saudi Arabia.

Saudi Crown Prince Mohammed Bin Salman met separately with Qatar's Ruler Sheikh Tamim Bin Hamad Al-Thani, after the pair publicly embraced at the airport.

"During the meeting, they reviewed bilateral relations between the two brotherly countries and ways of consolidating the Gulf Cooperation Council (GCC) joint action," the official Saudi Press Agency said.

Leaders of the six-member GCC signed two documents on Tuesday, the Al-Ula Declaration, named after the Saudi city where this year's regional summit was held, and a final communique.

The documents are general in terms, but Prince Mohammed said earlier that the Gulf states had inked an agreement that affirms "our Gulf, Arab and Islamic solidarity and stability".