Moscow has voiced concern
over an "unprecedented" increase in US and Nato military activity near
Russian borders, amid an escalating crisis in Ukraine.
But the US said Mr Shoigu also pledged Russia would not invade Ukraine.
The US says it deployed extra troops in eastern Europe to reassure Nato allies. It has also imposed new sanctions on Russia over its actions in Ukraine.
The European Union is also imposing new sanctions on 15 people who will be named on Tuesday.
In a statement, Mr Shoigu said he had a "candid" hour-long phone call with his American counterpart.
Mr Shoigu stressed that US and Nato military activity in eastern Europe was accompanied by "provocative" statements about the need to "contain" Russia.
Mr Shoigu also announced that Russian troops had returned to their "permanent positions" after conducting military exercises on the border with Ukraine.
But he did not say whether the overall number of Russian troops deployed in the region - said to be around 40,000 - had been reduced.
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