The team quickly left the country with little explanation about the nature of the threat.
England cancelled their own Pakistan tour soon after.
At the time Pakistan's interior minister Sheikh Rasheed Ahmad was adamant there was "no threat to cricket in Pakistan, there was no threat to New Zealand and there is no threat to England".
The cancellations had been a huge setback for Pakistan, who have struggled to entice foreign sides back after home internationals were suspended after a deadly terror attack on the Sri Lanka Test side in 2009.
Pakistan Cricket Board Chairman Ramiz Raja welcomed the news. "This reflects the strong, cordial and historic relations" between the two cricket boards, he said.
He added the move "reconfirms Pakistan's status as an important member of the cricket fraternity."
Dates for the fixtures are yet to be announced.