In the 10-minute call, Trump extended an invitation to Duterte to visit Washington, DC next year, Philippine People’s Television reported.
For his part, Duterte invited the US president-elect to attend the 2017 ASEAN Summit.
Relations between the United States and Philippines have turned tense over repeated comments by Duterte that have cast doubt on future US-Philippine ties.
In addition to insulting outgoing US President Barack Obama, Duterte recently said it was time for Manila to "say goodbye" to the United States’ long use of Philippine land for military bases.
On November 8, Duterte claimed he would cancel an order for 26,000 US-made M16 rifles, originally intended to arm the country’s national police, in order to look for a cheaper source.
The following day, Duterte congratulated Trump on the election victory and expressed hope that relations between the two nations would improve in the future.