US officials denied the report, which comes amid mounting concern in Western capitals about Syria's civil war drawing in foreign radical fighters who may return to carry out attacks in the homelands.
Syrian Deputy Foreign Minister Faisal Mekdad told the BBC the alleged visits to Damascus pointed to a "schism" between what Western politicians say about President Bashar al-Assad's regime and what Western security services do in practice.
Separately, the Wall Street Journal newspaper reported that British, German, French and Spanish agencies have been speaking to Assad regime officials since mid-2013.
They are also worried about fighters from their countries travelling to Syria to join Islamist militants.
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Mekdad said Western agencies were asking for security cooperation.
"I would not specify but many of them have visited Damascus, yes," Mekdad said in a broadcast aired Tuesday night.
"When these countries ask for security cooperation, then it seems to me there is a schism between the political and security leadership.
"Many of these countries have contacted us to coordinate security measures."
Britain's Foreign Office refused to comment on what Mekdad said, saying it does not comment on intelligence matters.
Citing informed sources, the BBC said the US, British and German intelligence agencies were among those which had sent officials to Damascus.
But State Department deputy spokeswoman Marie Harf denied there was any involvement by US intelligence agencies in talks on counterterrorism.
"This specific report about intelligence agencies going to work with the Assad regime on counterterrorism... Is not true," she told reporters.