The African ambassadors issued the statement late Friday following an emergency meeting after Mr. Trump used vulgar language to reject an immigration bill, asking why the USA would take in more people from Haiti and "sh*thole countries" in Africa.
"There is a serious need for dialogue between the US Administration and the African countries".
The outcry over Trump's remarks dominated news coverage on Friday and has complicated efforts to reach a deal on immigration.
The group "is concerned at the continuing and growing trend from the U.S. administration towards Africa and people of African descent to denigrate the continent and people of color", it said.
And that "Given the historical reality of how many Africans arrived in the United States as slaves, this statement flies in the face of all accepted behaviour and practice", said AU spokeswoman Ebba Kalondo.
She stressed that the United States was "much stronger than the sum total of one man".
He later tweeted, "this was not the language used" but privately defended his remarks, according to a source who spoke to Associated Press.
Trump spent Thursday evening making a flurry of calls to friends and outside advisers to judge their reaction to the tempest, said the confidant. The confidant told AP that Mr Trump wasn't apologetic about his inflammatory remarks and denied he was racist, instead blaming the media for distorting his meaning.
"The language of @realDonaldTrump that the African continent, Haiti and El Salvador are shithole countries is extremely unfortunate".
Meanwhile government of Botswana has summoned the United States ambassador of its country to express its displeasure at the comments and asked the ambassador to clarify if Botswana "is regarded as a "shithole" country" in lieu of the alleged comments from President Trump. But it emphasized that such a partnership should be based on mutual respect and accepted worldwide principles of respect of basic human dignity.
Mr Trump was widely derided a year ago after twice referring to Namibia as "Nambia".
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Many Africans reminded the United States of its historic role in the continent's woes. "I think it fundamentally poisons the relationship with numerous countries".
The president of Ghana tweeted Friday morning: "We are certainly not a 'shithole country.' We will not accept such insults, even from a leader of a friendly country, no matter how powerful".
Some acknowledged problems in their countries, but blamed this on their poor leaders as well as western nations.
"I am an African and very proud of my continent".
Mr Trump was said to have told them that instead of granting temporary residency to citizens of countries hit by natural disasters, war or epidemics, the USA should instead be taking in migrants from countries like Norway.
Even war-torn South Sudan weighed in, with president Salva Kiir's spokesman, Ateny Wek Ateny, slamming the comments as "outrageous".
In Senegal's capital, Dakar, meanwhile, administrator Idrissa Fall said "we can not really say that he (Mr Trump) is wrong".
Why allow immigrants from shithole countries?
The 54-nation UN African Group, which does not include Western Sahara, demanded a "retraction and an apology" from Mr Trump, while thanking Americans "from all walks of life who have condemned the remarks".
Mr. Trump's comment has triggered widespread condemnation. The US Military also carries out training and advisory missions in other African countries, with hundreds of troops performing that mission in Niger and Somalia.
She said the ANC was not in a position to stop any president from any country from saying anything they wish.