"The joint patrols of Turkish and USA troops - on which we have made plans and completed training and which we said would start - began at 3:53 p.m. local time [1353GMT]", Defense Minister Hulusi Akar said at the Turkish Parliament.
Turkey and the United States carried out coordinated but independent patrol near Manuja.
Mr Palladino said the U.S. was fully committed to Turkey's border security but at the same time expressed Washington's commitment to the Kurdish-dominated Syrian forces.
The US-led coalition fighting ISIS has conducted scores of air and artillery strikes in recent weeks as it has sought to drive ISIS from its last stronghold east of the Euphrates River in Syria.
"The joint patrols of Turkish and USA troops - on which we have made plans and completed training and which we said would start - began at 3.53 p.m. local time [1353GMT]", Hulusi Akar said to the Turkish Parliament.
Over the years, Turkey has tried to drive out the YPG from the western part of the Euphrates, but has hesitated to intervene in the eastern part to avoid a clash with the USA, which has military contact points and officers there.
It was the second time this week Turkish artillery targeted Kurdish positions in northeast Syria, an area where troops of the US -led coalition are also based. Turkey and the USA agreed on a roadmap in June amid Ankara's demands for the withdrawal of the US-backed Kurdish militia that freed Manbij from the Islamic State (IS, formerly ISIS) group in 2016.
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"We also call the global community to condemn the Turkish provocations in the safe areas in Syria, and we demand our partners in the worldwide Coalition to show a clear attitude and stop Turkey from launching attacks on the region", it added.
"Erdogan has nationalists who are breathing down his neck", and a lot of rhetoric and probably some military activity and incursion can be expected but the situation is unlikely to result in a broader showdown between the allies, Skinner said in an interview in Ankara on Wednesday. The campaign against ISIS "is not over and that fight remains hard", he said.
Ankara, however, views the YPG as the Syrian branch of the Kurdistan Workers' Party (PKK), which Turkey, the USA and European Union all consider to be a terrorist organization.
Earlier this year, Turkey and the United States agreed the YPG would withdraw from Manbij.
The Syrian rebel-affiliated Step News Agency reported on Thursday that Kurdish forces are moving armoured vehicles and heavy weaponry from eastern Deir Ezzor to Hassakeh, about 270 kilometres east of Kobani.
The Manbij Military Council that administers the town says the last Kurdish fighters left Manbij in July.
Turkey, which sees the Syrian Kurdish groups as a threat to national security, earlier this year threatened military action against Manuja.