The two Japanese car giants have also agreed to join forces to develop electric car technology. Toyota is to take a 5% stake in Mazda, while Mazda will also invest in Toyota.
The new US plant aims to produce 300,000 vehicles a year and expects to employ about 4,000 people.
President Donald Trump tweeted the announcement was “a great investment in American manufacturing”.
Earlier this year, Donald Trump had said Toyota would face hefty tariffs on cars built in Mexico for the US market if they were made south of the border.
The new plant will produce Toyota Corollas and a new Mazda SUV crossover.
The companies hope to be able to start production in 2021.
President Trump tweeted: “Toyota & Mazda to build a new $1.6B plant here in the U.S.A. and create 4K new American jobs. A great investment in American manufacturing!”
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