The UK government said it had put forward a "generous and unprecedented offer to accelerate growth" in the pharmaceutical sector.
"It would have reduced payment rates for pharmaceutical companies year-on-year, freeing approximately £1 billion over three years for new, life-changing medicines," a statement said.
Streeting previously told the Guardian that drug companies had been "short-sighted" in their approach to the talks.
He told the newspaper: "The pharmaceuticals industry signed up to the deal with the previous government.
"When it came out more expensive to industry than expected, we put forward an unprecedented offer to bring down payment rates for all future years of the scheme and accelerate growth in the sector - but the ABPI (Association of the British Pharmaceutical Industry) failed to reach an agreement."
In a statement, Richard Torbett, chief executive of the ABPI, said the demand for innovative medicines had continued to grow but investment in new treatments was falling due to "uncompetitive and punitive rebates on company revenues".
He said the UK's assessment methods for new drugs had not changed "for nearly a quarter of a century".
"Without change, the UK will continue to fall down international league tables for research, investment, and patient access to medicines," he added.
He said the industry still believed a solution to the row was possible.