The plan was signed on Tuesday by UNAMID Force Commander, Patrick Nyamvumba, and the Sudanese Defence Director of International Cooperation, Magzoub Rahma.
This follows a meeting held in Khartoum mid-December in which the two parties discussed ways and means of reducing attacks on UNAMID.
Nyamvumba says the agreement, which will come into effect in two weeks, will provide additional measures to cap growing insecurity in Darfur.
He adds the plan will enhance an existing agreement which stipulates that the primary responsibility for the security and protection of UNAMID peacekeeping personnel and their assets rests with the host government.
There has been an increase lately in ambushes, kidnappings and carjackings against UNAMID.