Clinton is on a six-nation tour of African countries. Violence was reported in the country early this year when a court ruled two-term former President Abdoulaye Wade could compete in national elections despite a term limit. He was later praised, however, after admitting defeat to former Prime Minister Macky Sall in a second round of voting in March.
Clinton said the U.S. government was "very committed" to helping Senegal with a wide-range of economic, regional and security issues.
"The United States is very impressed and admiring of the resilience of the Senegalese people, your commitment to democracy and we want to be a good partner and a good friend as you continue to build this important nation into one that is a model not only for the Senegalese people, but for the entire world," she said in a statement.
Sall has called for proceedings against former Chadian President Hissene Habrer. The International Court of Justice confirmed in March it began public hearings related to Senegal's obligation to prosecute or extradite Habre, who was allegedly tied to the torture and killing of thousands of political opponents from 1982-90.