Mr Johnson had his phone call with Mr Biden since he entered the White House on Wednesday.
“Great to speak to President Joe Biden this evening,” wrote Mr Johnson on Twitter.
“I look forward to deepening the long-standing alliance between our two countries as we drive a green and sustainable recovery from Covid19.”
A No 10 spokesman said that the Prime Minister warmly welcomed Mr Biden’s decision to rejoin the Paris Agreement on climate change and the World Health Organisation.
“The Prime Minister praised President Biden’s early action on tackling climate change and commitment to reach net zero by 2050,” the spokesman said.
Great to speak to President @JoeBiden this evening. I look forward to deepening the longstanding alliance between our two countries as we drive a green and sustainable recovery from COVID-19. pic.twitter.com/Y4P3G74PPz
— Boris Johnson (@BorisJohnson) January 23, 2021
“Building on the UK and US’ long history of cooperation in security and defence, the leaders re-committed to the Nato alliance and our shared values in promoting human rights and protecting democracy.
“They also discussed the benefits of a potential free trade deal between our two countries, and the Prime Minister reiterated his intention to resolve existing trade issues as soon as possible.
“The leaders looked forward to meeting in person as soon as the circumstances allow, and to working together through the G7, G20 and Cop26 this year.”
This story is being updated.