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Analysts had been expecting a downward revision, with some forecasting a contraction of 1.5%.
The second quarter figures were an improvement on the 6.4% annual rate of contraction between January and March.
US growth figures are revised frequently and the different estimates can vary significantly.
The better-than-expected figure for the second quarter of the year will provide further optimism to investors looking for more signs of recovery in the US economy.
WHAT IS GDP?
Gross Domestic Product, referred to simply as GDP, is the most commonly used indicator of national income. In essence, it measures the economic output of an economy
The US uses something called annualised GDP, which reflects the change over a certain period if it were continued at the same pace over a whole year.
GDP figures are often revised, but particularly so in the US. For example, figures for US GDP between January and March were first estimated at a 6.1% contraction. This figure was subsequently revised up to a 5.7% contraction, then up to 5.5%, before being revised down to 6.4%.
On Wednesday, figures showed that orders for US durable goods - those that are expected to last more than three years - increased by 4.9% in July, well above analysts' expectations.
At the same time, separate figures showed that the annual rate of sales of new US homes rose 9.6% last month, again higher than expectations.
This was the biggest rise in sales of new houses since September last year.
Data released last week showed a 7.2% rise in existing home sales in July.
All these encouraging figures were released after US central bank chief Ben Bernanke said the US economy was close to recovery.
"The prospects for a return to growth in the near term appear good," he told a conference in Wyoming last week.
Earlier this month, figures showed that the Japanese, German and French economies have emerged from recession.
Japanese gross domestic product (GDP) grew by 0.9% in the second quarter of 2009, while German and French GDP both grew by 0.3%. Fuelled by President Obama's $787bn stimulus package and reduced tax revenues due to the recession, it compares with a $455bn deficit in 2008.
The White House says the deficit will grow further, predicting it will hit a cumulative $9tn from 2010-2019.
However, it continues to expect the US economy to start to recover this year.
The White House expects US unemployment to pass 10% this year, before slowly declining in 2010. The most recent official figures showed the rate at 9.4% in July.
'Dire situation'
The latest deficit predictions have come from the White House and the non-partisan Congressional Budget Office (CBO).
The alarm bells on our nation's fiscal condition have now become a siren
Senate Republican minority leader Mitch McConnell
"Overall, it underscores the dire fiscal situation that we inherited, and the need for serious steps to put our nation back on a sustainable fiscal path," the White House's Office of Management and Budget director Peter Orszag said.
Christina Romer, one of the president's economic advisers, said the recession "was simply worse" than first predicted.
She said the White House now estimated that the economy will contract by 2.8% in 2009, more than double when it predicted earlier this year.
It now expects growth of 2% in 2010, down from its previous prediction of 3.2%, but with economic expansion recovering to 3.6% in 2011.
'Out of control'
Republicans said the latest deficit figures were a serious concern.
"The alarm bells on our nation's fiscal condition have now become a siren," said Senate Republican minority leader Mitch McConnell.
"If anyone has any doubts that this burden on future generations is unsustainable, they're gone - spending, borrowing and debt are out of control."
Analysts said the latest deficit figures increased the likelihood of US tax rises once it is confirmed that the country has exited recession.
The CBO said such a move would be required.
"Putting the nation on a sustainable fiscal course will require some combination of lower spending and higher revenues than the amounts now projected," it said.
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