"It was a very good call, and we, actually, seemed to be on a similar wavelength," Trump said in a social media post.
"Crime is way down, but both Governor Walz and I want to make it better!"
Trump's comments could indicate a de-escalation of his immigration crackdown in the state.
The White House said on Monday that Trump does not want to see people getting hurt or killed on the streets of the United States and believes the killing of a Minnesota man by federal officers was a tragedy.
Walz and other Democratic leaders have fiercely opposed the anti-immigration surge, which they characterise as a lawless invasion that puts public safety at risk.
Trump, for his part, has spent the past month accusing Walz of incompetence for failing to stop a welfare-fraud scandal in the state.
Walz did not immediately respond to a request for comment.
Trump earlier said he would dispatch White House border czar Tom Homan to work with local officials following Saturday's shooting of a 37-year-old nurse, Alex Pretti, by immigration agents during a confrontation with protesters in Minneapolis.
While other top administration officials have characterised Pretti as a "domestic terrorist," Homan has not publicly spoken about the incident.
In a statement, Trump said Homan "has not been involved" in the Minnesota crackdown "but knows and likes many of the people there".
Trump's statements came as state officials pressed a US judge to temporarily stop the deployment of 3000 immigration agents.
The surge of agents has spurred massive street protests in below-freezing temperatures, and fierce condemnations by the state's Democratic leaders.
Sixty of the state's largest businesses, including Target, 3M, UnitedHealth and US Bancorp, called for an immediate de-escalation of tensions between the state and the president's administration on Sunday.
A leading Republican candidate for governor, Chris Madel, dropped his bid on Monday, saying the crackdown had gone too far and had made the race unwinnable for a Republican.
"I cannot support the national Republicans' stated retribution on the citizens of our state, nor can I count myself a member of a party that would do so," he said in a video statement.
Homeland Security Department officials have described the incident as an attack by Pretti, saying agents fired in self-defence after he approached them with a handgun.
But video from the scene, verified by Reuters, appears to contradict that account.
The footage shows Pretti holding a phone - not a gun - as agents wrestle him to the ground.
It also shows officers removing a firearm stored near Pretti's waistband after he was subdued, moments before they fatally shot him.
Pretti was a licensed gun owner.
Trump told the Wall Street Journal on Sunday that his administration is "reviewing everything" about the incident and said immigration officials would eventually withdraw.
Recent Reuters polling indicates that a significant slice of Trump's Republican backers - 39 per cent - are wary of the heavy-handed approach, saying harm should be minimised even if this means fewer immigration-related arrests.
