Iraqi voters will decide whether to approve the agreement in a referendum to be held by the end of July.
It also calls for all U.S. troops to be withdrawn, in two stages, by the end of 2011.
The pact changes some of the terms of a United Nations mandate that allows the U.S.-led coalition to hold military operations and detain people without charge if they are suspected to be security threats.
The agreement -- which stresses respect for Iraqi sovereignty -- "requests the temporary assistance" of U.S. forces, but severely restricts their role. The pact says that all military operations are to be carried out with the agreement of Iraq and must be "fully coordinated" with Iraqis. A Joint Military Operations Coordination Committee will oversee military operations.