Kenya and the United Kingdom have sealed a new defence pact to resolve frequent diplomatic standoffs over visiting forces.
It allows for concurrent jurisdiction recognising the laws of both nations apply to visiting forces.
Lack of concurrent jurisdiction had caused friction in the past.
Under the agreement, British forces who commit crimes while off duty will be tried under Kenyan law.
This was not the case in the past, when British legal provisions were followed.
If British forces commit crimes while on duty, they will be tried on a British base under British military law.
Kenya will be allowed to send official observers. This was not allowed in the past.
The Defence Cooperation Agreement, signed on the sidelines of the United Nations General Assembly, awaits approval from the Kenyan Parliament and the House of Commons to make it operational.
According to a communiqué, the pact will boost the defence relationship, enabling the UK to provide additional support on maritime operations, security and continued British military training in Kenya.
Foreign Affairs Cabinet Secretary Amina Mohamed and her Britain counterpart Philip Hammond resolved to tackle terrorism.
They agreed to strengthen existing security cooperation on countering violent extremism, border and aviation security as well as the criminal justice system.
Britain said it will open a new centre in Kenya to provide technical training on improvised explosive devices.