Holders of the Kenyan passport will be allowed to enter South Africa visa-free from January for a maximum of 90 days annually.
President Cyril Ramaphosa made the announcement on Wednesday during an official visit to Nairobi.
Presidents Ramaphosa and William Ruto held bilateral talks which explored areas of mutual interest and collaboration.
“We have discussed the issue of visas, with a view to allowing Kenyans to visit South Africa on a visa-free basis.
“This will officially start on January 1, 2023 and it will be available to Kenyans for a 90-day period per year,” he confirmed.
In remarks at a media briefing, Ramaphosa described the chat with Ruto as “very productive and constructive”.
The South African leader said the countries’ relations are based on a sound foundation of shared values, friendship and democracy.
The President added that the agreements demonstrated the new cooperation areas that both nations have identified.
South African nationals have been entering Kenya without a visa for up to three months.
But Kenyans long complained that the gesture was not reciprocated, citing the hassles of procuring visas.
The 2022 Henley Passport Index Report shows Kenya at 76th globally from 77th in 2021.