He said there would be an initial cap of 49,000 vehicles on Chinese EV exports to Canada, growing to 70,000 over five years.
China will reduce its tariff on canola seeds, a major Canadian export, from about 84 per cent to about 15 per cent, he told reporters.
"It has been a historic and productive two days," Carney said on Friday, speaking outside against the backdrop of a traditional pavilion and a frozen pond at a Beijing park.
"We have to understand the differences between Canada and other countries, and focus our efforts to work together where we're aligned."
Earlier, he and Chinese leader Xi Jinping pledged to improve relations between their two nations after years of acrimony.
Xi told Carney in a meeting at the Great Hall of the People that he is willing to continue working to improve ties, noting that talks have been underway on restoring and restarting co-operation since the two held an initial meeting in October on the sidelines of a regional economic conference in South Korea.
"It can be said that our meeting last year opened a new chapter in turning China-Canada relations toward improvement," China's top leader said.
Carney, the first Canadian prime minister to visit China in eight years, said better relations would help improve a global governance system that he described as "under great strain".
He called for a new relationship "adapted to new global realities" and cooperation in agriculture, energy and finance.
Those new realities reflect in large part the so-called America-first approach of US President Donald Trump.
The tariffs he has imposed have hit both the Canadian and Chinese economies.
Carney, who has met several leading Chinese companies in Beijing, said before his trip that his government is focused on building an economy less reliant on the US at what he called "a time of global trade disruption".
Canada had followed the US in putting tariffs of 100 per cent on EVs from China and 25 per cent on steel and aluminium under Justin Trudeau, Carney's predecessor.
China responded by imposing duties of 100 per cent on Canadian canola oil and meal and 25 per cent on pork and seafood.
It added a 75.8 per cent tariff on canola seeds last August.
China is hoping Trump's pressure tactics on allies such as Canada will drive them to pursue a foreign policy that is less aligned with the United States.
The US president has suggested Canada could become America's 51st state.
Carney departs China on Saturday and visits Qatar on Sunday before attending the annual gathering of the World Economic Forum in Switzerland next week.
