Parly's visit follows that of French Foreign Minister Jean-Yves Le Drian last week, the first visit by a French politician since young army officers toppled president Ibrahim Boubacar Keita on August 18.
"I reaffirmed our commitment to support the strengthening of Mali's armed forces," she said during a meeting with her Malian counterpart, Colonel Sadio Camara.
"France, together with its international partners, will continue its assistance and advisory activities," Parly added.
France has 5,100 soldiers stationed across Africa's Sahel region, including in Mali, as part of its anti-jihadist Operation Barkhane.
An Islamist insurgency has raged in Mali since 2012, killing thousands of soldiers and civilians.
Fighting has also spread into neighbouring Burkina Faso and Niger, despite the presence of foreign troops in the country.
Mali's coup in August came after waves of anti-government protests partly fuelled by Keita's failure to end the brutal insurgency.
After intense international pressure, Mali's military junta handed over to an interim government which is meant to stage elections within 18 months.
Parly said on Monday that the fight against Sahel jihadists had not wavered since the coup. But it is important to discuss longterm plans, she added, "because we must plan new operations".
The defence minister -- who arrived from Niger, where French soldiers are also deployed -- also met Interim Vice President Colonel Assimi Goita, who led the August putsch against Keita.
She was also due to meet Mali's Interim President Bah Ndaw.
Parly's visit also comes after Mali released some 200 detainees -- some thought to be jihadists -- in exchange for four captives held by Islamist groups.
The last remaining French hostage in the world, 75-year-old Sophie Petronin, was among the freed hostages.
The swap led to speculation of a fresh push to engage jihadist groups in dialogue -- an option many in Mali argue is one of the few ways to stop the bloodshed.
"We cannot engage in dialogue with jihadist groups that have not renounced the fight against terrorism," Parly said, restating longstanding French policy.
"It is the responsibility of the Malian authorities, not ours, but it is important to talk about it," she added.
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