At least three people were killed and 20 injured in the attack outside parliament when a man mowed down pedestrians with a car then stabbed a police officer outside parliament before being shot dead.
British Prime Minister Theresa May responded to the "appalling incident" by saying her thoughts "are with those killed and injured" and "with their families," her Downing Street office said in a statement.
Chancellor Angela Merkel said Germany stood by Britain "firmly and resolutely".
"In these grave moments, we Germans feel very close to the British people," President Frank-Walter Steinmeier added.
French President Francois Hollande sent a message of "solidarity" and "support" for Britons and May.
"France, which has been hit so hard in recent times, knows what the British people are suffering today," Hollande said in a statement.
French Prime Minister Bernard Cazeneuve tweeted: "Solidarity with our British friends, horribly attacked, full support for the injured French students, their families and their friends."
"We condemn these horrific acts of violence, and whether they were carried out by troubled individuals or by terrorists, the victims know no difference," he said.
Canadian Prime Minister Justin Trudeau tweeted: "Our thoughts are with the victims of today's attack in London and their families. Canadians remain united with the people of the UK. "
European Commission President Jean-Claude Juncker said the attack left him "highly emotional".
European Council President Donald Tusk tweeted: "My thoughts are with the victims of the Westminster attack. Europe stands firm with the UK against terror and ready to help".
"We consider it an evil to which it is necessary to fight
collectively. In this moment, as always, our hearts are with Britons and we share their pain".
Italian Prime Minister Paolo Gentiloni, who observed a moment of silence at the start of a meeting with Social Democratic lawmakers, expressed his "condolences" and said: "Italy and the United Kingdom remain side-by-side in our condemnation and firm response to all forms of terrorism".
In a message addressed to Queen Elizabeth, Italian President Sergio Mattarella expressed his "deep sadness" and said that "the United Kingdom will be able to count on Italy's firm commitment" in the fight against terrorism.
Turkish Prime Minister Binali Yildirim called terrorism "a global catastrophe" on Turkish television, adding: "All countries should come together on the terror issue and fight together against" it.
"We express our solidarity with the British people on today's indiscriminate attack," Greek Prime Minister Alexis Tsipras tweeted.
Spanish Prime Minister Mariano Rajoy tweeted: "Spain stands with the British people. I condemn the attack in the vicinity of Westminster, London. Solidarity with the victims."
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