Comey has said he would like to testify publicly about the separate investigations into Hillary Clinton's email practices and Russian interference in the 2016 election - in front of live TV cameras as he has done before. "Mr. Comey should agree to these terms and see that we have the same objective, which is to find the truth and seek transparency".
On Sunday, Goodlatte issued a statement saying the transcript of Comey's testimony would be released to the public "as soon as possible" after the interview "in the name of our combined desire for transparency". Comey's request that the closed-door deposition be put on hold infuriated Goodlatte, who accused the former director of seeking "special treatment", CNBC reported.
Comey said Republicans will allow him to speak freely to the public and transcripts will be made available 24 hours after the hearing.
The agreement was reached a day before lawyers were to appear again in court.
The December 3 hearing has been largely viewed as an attempt by Republicans to sneak in one more Comey hearing before Democrats take control in one month's time.
Comey had sued to block the summons last week, contending that the sealed testimony would be leaked and distorted by Republicans for political purposes. The committees also want to hear from former Attorney General Loretta Lynch.