South Africans are already entitled to free visas upon arrival in Kenya, whereas Kenyans must pay a fee and provide proof of sufficient cash in addition to return tickets.
On January 1st 2023, the new agreement will come into force.
South African President Cyril Ramaphosa was in Kenya on his first official trip to the country.
He and Kenyan President William Ruto praised the Ethiopia peace agreement signed last week in South Africa and brokered by the African Union.
They appealed to the parties to “ensure full implementation of the agreement to reach a lasting political settlement.”
The Kenyan and South African leaders also directed their trade ministers to address barriers that limit trade between the two countries.
The two nations are among the strongest economies on the African continent.