One of the documents is a binding document which must be approved by Parliament, the other, a platform that will not be made public, B92 reported.
"A lot of time has passed. What we are doing today is a minimum of what we could have gotten several years ago and a maximum of what we will be able to get in a few years," President Tomislav Nikolic.
The five-item resolution includes statements that Serbia will never recognize Kosovo as an independent state but that dialogue with the insurgent government in Pristina will continue.
Nikolic said he was "partially at peace" with the documents.
"It is now up to citizens to be aware of the challenges that await us, how torn we are between things we have to do and things we should do," he added.
He called for Serbs to keep an open mind about the platform, claiming it was "the best Serbia can achieve today."
Kosovo declared its independence from Serbia in 2008 and has been recognized as a separate country by 100 governments, including 98 of the 193 members of the United Nations and 22 of the 27 members of the European Union.