"Such acts that target unarmed civilians contradict all principles and moral and human values," the foreign ministry said in a statement.
Doha, which has been accused of supporting radical Islamist groups in troubled Arab countries such as Libya and Syria, offered condolences to the French government and the families of the victims.
Gunmen shouting Islamist slogans stormed the offices of the satirical weekly, armed with an AK-47 assault rifle and a grenade launcher.
Editor-in-chief Stephane Charbonnier and three cartoonists were among those killed in the attack, a judicial source in Paris said.
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