The Taoiseach told the Prime Minister that the Queen's historic visit to the Republic in 2011 had made an "extraordinary" impact on the dealings between the two nations.
Mr Kenny arrived at No 10 for talks focused on visa flexibility, trade and Northern Ireland at the end of a two-day visit to the United Kingdom. He heads to the US later in the week.
Mr Cameron said: "I think we meet at a time when Anglo-Irish relations are at an all time high.
"I think relations between our countries are very, very strong but I still think there is even more we can do to strengthen our ties and strengthen our relationship."
He added: "The economic ties between Britain and Ireland are strong and getting stronger.
"In terms of trade, we have realised that one of the goals of the last summit we had when we talked about a joint trade mission between Britain, Northern Ireland and the Republic and we achieved that in Singapore, which I welcome."
Mr Kenny echoed Mr Cameron's sentiments.
He added: "I do think that the visit of Her Majesty had an extraordinary impact on relations between the two countries.
"There's a building excitement in terms of the return visit from President Higgens."