The US Congress has 60 days in which to consider the deal, though President Barack Obama has said he will veto any attempt to block it.
Israel`s government has strongly criticised the agreement.
Negotiations between Iran and six world powers - the US, UK, France, China, Russia and Germany - began in 2006.
The so-called P5+1 want Iran to scale back its sensitive nuclear activities to ensure that it cannot build a nuclear weapon. Iran, which wants international sanctions lifted, has always insisted that its nuclear work is peaceful.
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