The commission was tasked with going over ties with Washington after errant airstrikes killed 24 Pakistani soldiers and led to the closure of US and Nato supply lines to Afghanistan.
The incident presented an opportunity for the army - furious at the Americans and under public pressure following the raid on Osama bin Laden last year that was seen in Pakistan as a violation of the country's sovereignty - to gain a negotiating advantage in its turbulent relationship with Washington.
"The US must review its footprints in Pakistan," commission head Raza Rabbani said, reading the recommendations . "This means the cessation of drone strikes inside Pakistan."
This demand could complicate efforts to rebuild the relationship.
But the commission didn't say the supply lines should be permanently closed, as many Pakistanis would like, rather that the government should charge the US and Nato more money for the privilege.
Washington wants to rebuild its relationship with Pakistan, whose cooperation is seen as key to the success of striking a deal with insurgents in neighboring Afghanistan .
The issue is to be debated again on Monday.