The inauguration was attended by Israel's Prime Minister Benjamin Netanyahu and Guatemalan President Jimmy Morales.
Guatemala has opened its new embassy in Jerusalem, becoming the second country to do so after the United States, as worldwide condemnation continued over the killing of dozens of Palestinian protesters by Israeli forces.
"You are always among the first, always among the first.We remember our friends, and Guatemala is our friend - then and now", Netanyahu went on, recalling that Guatemala was the second nation, after the U.S., to recognize Israel in May 1948.
Israel said all 86 countries with diplomatic missions in the country were invited to the event, and 33 accepted.
May 14 in Jerusalem has officially opened the U.S. Embassy, which by decision of the President of the United States was transferred from tel Aviv.
And Al Jazeera reports Paraguay plans to move its embassy to Jerusalem by the end of May.
Trump's move reversed decades of U.S. policy, upsetting the Arab world and Western allies.
Israel occupied the West Bank and east Jerusalem in 1967 and later annexed east Jerusalem in a move never recognised by the global community. The Trump administration has said the city's final borders should be decided by the parties.
Most world powers do not recognise Israeli sovereignty over the entire city and says its final status should be set in peace negotiations.
They culminated in the killing of almost 60 Palestinians by Israeli forces in clashes along the border.
The heavy death toll on Monday, along with hundreds of wounded, made it by far the bloodiest day of cross-border violence since a devastating 2014 war between Israel and Hamas.
The Palestinians want east Jerusalem as the capital of their future state, and view the relocation of the embassy as a one-sided move that invalidates the USA as a peace broker in the region.
Palestinians have been demonstrating on the Gaza frontier for the past six weeks, demanding a return to family land or homes lost to Israel when it was founded in the 1948 Middle East war. Kilic arrived back in Ankara on Wednesday afternoon, state media said.
Guatemala becomes the second nation to formally move their Israel embassy to Jerusalem.
Prior to 1980, Guatemala and a dozen other countries maintained embassies in Jerusalem.