The two sides agreed to "observe an immediate cessation of all forms of violence, and to refrain from any provocative acts or comments," according to a copy of the document seen by AFP.
The deal was signed yesterday in the presence of Algerian Foreign Minister Ramtane Lamamra, along with Mongi Hamdi, the head of the 9,300-strong UN peace mission in Mali (MINUSMA).
It came during a fifth round of talks in Algiers that started Monday.
The government and the armed groups committed themselves to "pursue negotiations in good faith and in a constructive spirit... To tackle the causes of lasting tensions," said the document.
The agreement also provides for "the continuation of the implementation of confidence-building measures, including the release of detainees."
Northern Mali was occupied in April 2012 by Islamists, who imposed a brutal rule before being driven out by French troops nine months later.
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