Israel's Cabinet on Sunday approved the release of 104 long-held Palestinian prisoners, a government official said, clearing a hurdle toward a possible resumption of Israeli-Palestinian peace talks after five years of paralysis.

The prisoner release is part of a U.S.-brokered push to bring the two sides back to the table. As a next step, Israeli and Palestinian negotiators are to hold preliminary talks in Washington on Tuesday, to be followed by up to nine months of negotiations on a peace deal.

The Cabinet voted 13-7 with two abstentions to approve in principle the release of 104 prisoners, said a government official who spoke on condition of anonymity in line with briefing regulations.

The vote came after a stormy session in which Prime Minister Benjamin Netanyahu linked the release to a resumption of talks which he said is important to Israel. Relatives of Israelis killed in Palestinian attacks demonstrated outside the building against the release.

Chief Palestinian negotiator Saeb Erekat welcomed the vote.

"I believe this is a step toward peace and I hope that we can use this opportunity that the U.S. has provided for us to resume negotiations," Erekat said.

Under the deal brokered by U.S. Secretary of State John Kerry, the prisoners would be released in four stages over several months. Each release would be linked to progress in negotiations.

According to a list provided by the Palestinians, the prisoners to be freed have served between 19 and 30 years for involvement in deadly attacks on Israelis.

The fate of prisoners is emotionally charged for both sides. Palestinians tend to view the prisoners as heroes who made sacrifices in the struggle for independence, while most Israelis see them as cold-blooded terrorists.

Netanyahu told the Cabinet releasing prisoners involved in deadly attacks was difficult.

"This is not an easy moment for me, and is not easy for the ministers in the government and is especially difficult for the bereaved families," Netanyahu said at the beginning of the meeting. "But there are moments where I need to make tough decisions for the good of the country, and this is one of those moments."

"I believe that resuming the political process at this time is important for Israel," he said. He said that if an accord is reached, it will be put to a referendum in Israel.