"Yes, there are some joint patrols but other than that, the steps that have been taken or the steps that are said to be taken are cosmetic steps", Foreign Minister Mevlut Cavusoglu told reporters in Ankara.
The YPG has been a main USA ally in the fight against Islamic State in Syria.
He said Turkey and the United States needed to establish a "safe area" in northern Syria as soon as possible.
Turkey is anxious about a repeat of the Manbij deal it struck with the U.S. past year.
He was referring to recent joint Turkish-U.S. helicopter patrols of the planned safe zone region, as well as a joint ground forces patrol that took place on Sunday.
Cavusoglu said Turkey wanted to work with the United States but was growing impatient.
Turkish President Recep Tayyip Erdogan claimed Sunday rifts stay in the way Turkey and the USA imagine the zone, boasting Washington was "making an attempt to create a secure zone for the terrorist corporation, not for us".
"We are speaking about an ally who can not act independently from the terror organization", Cavusoglu said, referring to the U.S.
Erdogan and his United States counterpart, Donald Trump, are due to discuss the issue later this month on the sidelines of the UN General Assembly.
Turkey hopes the buffer zone will keep Syrian Kurdish fighters away from its border.
Foreign Minister Mevlut Cavusoglu told journalists that Washington was too strongly involved with US -allied Syrian Kurdish fighters and was stalling on plans for the safe zone.
A US military delegation concluded a meeting with the Turkish General Staff over a planned safe zone in Syria, according to the Turkish National Defense Ministry on Tuesday. The ministry said more discussions would be held Wednesday at a joint operations centre near Turkey's border with Syria.
Turkish drones started operating in northern Syria as part of the agreement.
Turkey has extended the deadline for thousands of unregistered Syrian refugees in Istanbul to leave the city until October 30th or face forcible deportation, Interior Minister Suleyman Soylu said on Tuesday.