The two sides "held extensive, deep and thorough exchanges on trade and structural issues of common concern, which promoted mutual understanding and established a foundation for the resolution of each others' concerns", it said.
They agreed to maintain close contact, the statement said. President Donald Trump and his deputies have criticized China for failing to live up to past promises, including a pledge to promptly open up the Asian nation's economy to more trade and investment after it joined the World Trade Organization in 2001.
The U.S. Trade Representative's office issued its own statement a day earlier, . and said China has pledged to purchase "a substantial amount" of agricultural, energy and manufactured goods and services from the U.S.
United States officials visited Beijing from Monday to Wednesday for the first sit-down talks since President Donald Trump and Chinese leader Xi Jinping agreed on December 1 to a three-month truce in the escalating spat.
Asked if that meant the talks had been hard, Lu said: "I can only say that extending the consultations shows that the two sides were indeed very serious in conducting the consultations".
China and the US will move ahead with trade talks as scheduled, Ministry of Commerce Spokesman Gao Feng told reporters in Beijing at a regular weekly briefing Thursday, without giving any further details over when they would take place.
When asked about progress in those areas on Thursday, China's commerce ministry spokesman Gao Feng said that structural issues were a focus of the talks.
So far, the US side has described the exchanges in a positive light.
Trump has been demanding China to drastically reduce the Dollars 375 billion trade deficit and ensure IPR production for U.S. technology and services. -China Business Council in Beijing. Liu made a brief appearance at the talks in Beijing on Monday, boosting optimism that China was serious about making progress.
The mid-level talks were the first face-to-face meeting between the two sides since their leaders met on 1 December 2018. Prior to the meeting, China made a number of concessions to USA demands including temporarily cutting punitive tariffs on US -made cars, promising to open up its markets for more foreign investment, and drafting a law to prevent forced technology transfers. Over dinner in Argentina last month, Trump and Chinese president Xi Jinping agreed to a 90-day tariff truce so that negotiations could take place.
Washington has been clamouring for an end to the forced transfer - and even theft - of American technology and intellectual property, as well as steep government subsidies for Chinese companies.
If talks continue to go well, a cabinet-level meeting is likely to happen before the end of the month.
Chinese exports to the USA have held up despite tariff increases of up to 25 percent on $250 billion of Chinese imports, partly due to exporters rushing to fill orders before more increases hit.