Lifting European Union sanctions on Russian Federation will weaken efforts to resolve Ukraine's crisis and hand a victory to Moscow.
"Work will continue", he told journalists after the meeting in the Belarussian capital Minsk.
The Normandy Four ministerial meeting has yielded no breakthrough solutions, Russian Foreign Minister Sergey Lavrov said on Tuesday after talks with his counterparts from Germany, France and Ukraine in Minsk.
Ukrainian Foreign Minister Pavlo Klimkin said the meeting was a step in the right direction and would focus on humanitarian issues as well as security.
"All in all: this is not a simple situation and therefore there is no reason to be overly confident", said Steinmeier, who with German Chancellor Angela Merkel has devoted much effort to trying to resolve the crisis.
"All the elements of the Minsk accords must be put in place".
"It was very tedious again today", Steinmeier said.
The conflict in eastern Ukraine has killed over 9,600 people since it began in April 2014. "But their liberation and the date of their liberation fully depends on Russian Federation, whose representative once again failed to provide any concrete answers and is not ready for decisions on the key humanitarian issue", Herashchenko said.
The latest four-party talks on resolving the Ukrainian conflict made no headway, with Germany's foreign minister describing them as "tedious". The Kremlin denies these charges, however, and accuses Ukraine of perpetuating the violence and violating the Minsk deal.
Steinmeier also held out the prospect that full implementation of the measures agreed in Minsk in September 2014 and February 2015 could lead to the lifting of worldwide sanctions imposed against Russian Federation over its role in Ukraine's conflict.