The document was signed in New York on Tuesday by the Croatian Minister of Foreign Affairs and European Integration, Kolinda Grabar-Kitarovic, and the Bulgarian Minister of Foreign Affairs, Ivailo Kalfin.
The memorandum provides for an exchange of technical assistance and experience as part of Croatia's efforts to join the European Union and NATO and Bulgaria's EU membership bid.
Grabar-Kitarovic said she was pleased with the latest Eurobarometer survey, which shows that the public has a positive opinion on Croatia's aspiration to become a full member of the EU.
Kalfin highlighted good bilateral relations with Croatia and promised that Bulgaria would convey to Croatia its experience on the path to NATO membership.
The two ministers met on the margins of a session of the UN General Assembly.