In attendance were US President Barack Obama, members of the US Congress, high-level officials and diplomatic representatives of 130 countries, the Croatian foreign ministry said in a statement.
The National Prayer Breakfast is traditionally held on the first Thursday in February.
During his stay in the USA, Jandrokovic met with Elizabeth Sherwood-Randall, a special assistant to President Obama and senior director for European affairs at the National Security Council.
The two officials expressed satisfaction with the excellent bilateral relations in all segments of cooperation, the Croatian ministry said.
Minister Jandrokovic thanked the United States for its continuous support to Croatia and its European Union membership bid.
Sherwood-Randall said that the United States fully supported Croatia on its path towards EU membership, stressing that that Croatia's EU entry would send a positive signal to other countries in the region.
Jandrokovic notified the U.S. official of steps his country was taking to meet conditions for the liberalisation of the visa regime with the US.
The two officials also expressed satisfaction with the active cooperation of their two countries in the defence sector, with Sherwood-Randall highlighting the excellent performance of the Croatian troops in the ISAF mission in Afghanistan.
They also discussed the situation in southeastern Europe, focusing on the situation in Bosnia and Herzegovina after the October 2010 general elections. Sherwood-Randall said her country appreciated Croatia's constructive role in Bosnia.
Jandrokovic also spoke of the state of affairs in Croatia-Serbia relations.