Although Mr Trump signed an executive order banning travel from seven Muslim-majority nations, of which Saudi Arabia was not included, Adel al-Jubeir said he believed the US president could be a friend to the Arab world.
"I believe Donald Trump is a friend to everybody potentially," he told CNBC at the Munich Security Conference last weekend.
The former Saudi ambassador to the US added: "I have no basis to question his motives.
"I believe that he wants to do what is best for America and this is what every leader should do for his country."
The day after he made his remarks, Mr Jubeir reasserted Saudi Arabia's support for a Palestinian state after Mr Trump said peace in the Middle East does not depend on a two-state solution to the Israeli-Palestinian conflict.
"You have a peace deal which essentially calls for a settlement based on two states living side by side in peace and security," he said.
He added: "[A] Palestinian state with East Jerusalem as its capital, and the just settlement of refugees and just sharing water resources. This is the settlement that we believe is a fair and just settlement."
Last week, Mr Trump said he could accept a two-state or one-state solution if it is agreed upon by all sides.
However, administration officials later said the US absolutely supports a two-state solution.
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