"With regards to withdrawal decision of the US ... from Syria, we welcome the decision," Mevlut Cavusoglu said at a joint news conference with his Maltese counterpart Carmelo Abela in the capital Valletta.
Turkey fully supports the territorial integrity of Syria, he added.
Cavusoglu further asserted that Turkey has been fighting Daesh (also ISIL terrorist group) "for many years."
"We believe that Daesh is defeated but still we should be very vigilant because Daesh and other radical groups are still on the ground," he said, Anadolu Agency reported.
Cavusoglu also said he and other Turkish officials have already been in touch with US officials "at different levels" on the issue.
US President Donald Trump on Wednesday ordered all of the US forces in Syria to withdraw from the country, saying Daesh's defeat was his sole reason for being in the war-torn country.
The US began its air campaign in Syria in 2014, deploying troops to the country to assist in the anti-Daesh fight alongside local partners the year after.
Reports have suggested US forces will leave within 60 to 100 days.