Ambassador Dana Shell Smith wrote on Twitter to a series of users that she "apologized to the government of Qatar" and asked the US military to investigate the incident.
The US Embassy in Doha confirmed the tweets sent on the ambassador's account were genuine, but declined to immediately discuss the video.
Qatar's Foreign Ministry said it summoned Smith over the video.
The video online showed two US soldiers in fatigues standing in front of a US and a Qatari flag.
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