Foreign Minister Shah Mehmood Qureshi said the move was "a step forward" in the peace effort.
"The US reviewed its (Afghanistan) policy and then talks were held in Abu Dhabi, then there was progress in the talks and things are moving ahead," Qureshi told reporters in the central city of Multan. "We expect that things will move further."
Qureshi added that Pakistan had released some Taliban detainees to help facilitate the peace talks and to "create an enabling environment".
There has been no official comment from the Taliban, but one of the militant group's senior commanders on Friday welcomed the decision.