"We unanimously approved (the statement), it is a good and common basis for our common position and our engagement in the region," EU external affairs head Federica Mogherini said after a meeting of bloc foreign ministers in Brussels.
The statement expressed the EU's deep concern at continuing violence, holding both sides to account for their actions.
"The EU firmly condemns the terror attacks and violence from all sides and in any circumstances, including the death of children," it said.
The 28-nation bloc restated its commitment to a two-state solution and said it would closely monitor developments on the ground which undermine that outcome.
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The statement had been expected to be passed without discussion but differences emerged over the weekend, notably on the consequences of an EU decision to label products from Israeli settlements in the occupied territories as "Made in Israel."
French state secretary for European Affairs Harlem Desir, standing in for his foreign minister Laurent Fabius, said some countries, including Greece, wanted to see changes to the text, thinking it too critical of Israel.
"Greece had some problems and they got most of what they wanted; they felt there was too much emphasis on violence by (Jewish) settlers," the source said.
In today's statement, foreign ministers reiterated that the settlements were "illegal under international law, constitute an obstacle to peace and threaten to make a two state solution impossible."
"The EU and its member States are committed to ensure continued, full and effective implementation of existing EU legislation and bilateral arrangements applicable to settlements products," it said.