Medvedev says that "reason has prevailed" on the divisive issue in the final months of U.S. President George W. Bush's administration.
The U.S. has dropped its effort to grant Ukraine and Georgia NATO Membership Action Plans next week amid opposition from European allies that are concerned about angering Russia.
Moscow opposes NATO membership for the ex-Soviet republics, and the issue was a major factor leading to its August war with Georgia.
Medvedev made the comments during his visit to Cuba. They were broadcast Friday on Russian television.
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