"The king of Jordan has requested that all means of the Jordanian armed forces be made available to the Iraqi army," said Khaled al-Obaidi.
"This was confirmed by the joint chief of staff" of Jordan's armed forces, the minister said of General Mohammed al-Zaben Meshaal, who was at his side during a news conference in the Iraqi capital.
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General Zaben, who also advises King Abdullah II, said he was in Baghdad to bring a message from the king that "we are in the same boat as our Iraqi brothers".
"We will do everything to defeat this group," he added.
Their statements came a week after the Islamic State group released a video in which the jihadists burned alive a Jordanian pilot captured in December when his fighter jet went down in Syria.
Jordan, a member of the US-led coalition waging air strikes against IS, promised a harsh response and has expanded its role in the campaign to include Iraq as well as Syria since the murder of pilot Maaz al-Kassasbeh.