Joe Biden and Donald Trump will take place in two televised debates on June 27 and September 10 in the presidential race.
The pair agreed to the debate dates on Wednesday, with Mr Biden saying on social media: “As you said: anywhere, any time, any place.”
But Trump in turn called Biden "the worst debater" he has ever faced.
“I am Ready and Willing to Debate Crooked Joe at the two proposed times in June and September," he posted on social media.
CNN said the first debate would be held in their Atlanta studio with no audience, and would be moderated by anchors Jake Tapper and Dana Bash.
Georgia is one of November's most closely contested states.
The candidates also accepted an invitation from ABC, which will host a second debate in September.
A separate vice presidential debate has been proposed for July, after the Republican National Convention.
Key differences between the two sides remained on the terms of engagement.
Biden said he would participate in those two debates under strict rules to reduce interruptions, while Trump called for more than two - and a very large venue "for excitement purposes."
Debates, which will draw a live television audience in the tens of millions, are fraught with risks for both candidates, who face a tight race and low enthusiasm from voters.
The first debate would take place after the June 15 conclusion of the G7 summit in Italy and Trump's criminal trial in New York.
Trump, who refused to debate his rivals during the Republican nominating race, has in recent weeks been challenging Biden to a one-on-one matchup with him, arguing that debates should be held before early voting begins in some states.
Biden said he would not take part in the traditional televised showdowns organised by the Commission on Presidential Debates, rejecting the nonpartisan organisation that has managed them since 1988.
Trump had also expressed interest in bypassing the commission, and the Republican National Committee announced in 2022 that the party would leave the commission's debate system altogether.
In a letter explaining the decision, Biden's campaign chair, Jennifer O'Malley Dillon, cited the commission's past struggles to keep candidates from violating debate rules.
She notified the commission that Biden will not be participating in the three general-election debates sponsored by the group.
