The signing ceremony was broadcast by Polish TV channels.
“The diplomatic note that I just signed will be handed over to the German Foreign Ministry,” TASS quoted the minister as saying.
Earlier, the Sejm of Poland overwhelmingly adopted a resolution demanding reparations from Germany for damage caused during World War II.
The leader of Poland's ruling Law and Justice party, Jarosław Kaczynski, said Poland would demand 6.2 trillion złoty (about $1.3 trillion) from Germany in reparations.
German Chancellor Olaf Scholz noted that the issue of reparations to Poland is regulated by international law.