The Marvel action blockbuster reached the milestone in its 19th week on global release, and is now the third highest-grossing movie of all time.
It now behind James Cameron's Titanic and Avatar in the all-time chart.
The Avengers was re-released at 1,705 theatres in the US this weekend, taking in another $1.7m (£1.07m) in North America. Its domestic total now comes to $619.5m (£390.5m).
Director Joss Whedon recently claimed that The Avengers is not a "perfect movie"
Whedon will be involved in a Marvel-produced SHIELD television show for ABC, before working on the Avengers sequel, due for a summer 2015 release.
Watch a clip from The Avengers below: