"Moving forward, there will still be many people who cannot attend Mass in person. We therefore ask parishes, wherever possible, to continue live-streaming Sunday Mass, both for those who remain shielding and vulnerable, and also for those unable to leave home because of advanced age or illness," the metropolitan archbishops said.
"When we return to Mass there will be some differences in how the celebration takes place. For the time being, there will be no congregational singing and Mass will be shorter than usual. None of this detracts from the centrality of our encounter with the Risen Christ in the Eucharist. We ask everyone to respect and follow the guidance that will be issued and the instructions in each church."
Thursday's message marks the second time that the metropolitan archbishops have written jointly to Catholics during the coronavirus pandemic.
In a May 1 message, the metropolitan archbishops of England and Wales acknowledged the pain of Catholics who cannot receive the sacraments because of the coronavirus lockdown.
In the letter, entitled "A People who Hope in Christ," the archbishops said that while livestreamed Masses nourished faith, they were no substitute for public liturgies.
"We are deeply moved by the Eucharistic yearning expressed by so many members of the faithful. We thank you sincerely for your love for the Lord Jesus, present in the sacraments and supremely so in the Holy Sacrifice of the Mass," they wrote.
"The bishops and priests of every diocese are remembering you and your loved ones at Mass each day in our churches as we pray 'in hope of health and well-being.' We thank our priests for this faithfulness to their calling."
The June 25 letter was signed by Cardinal Vincent Nichols of Westminster, Archbishop Malcolm McMahon of Liverpool, Archbishop Bernard Longley of Birmingham, and Archbishop John Wilson of Southwark.
Although Cardinal Nichols is the president of the Bishops' Conference of England and Wales, the message was addressed only to the Catholic Community in England.
Catholics in Wales are still waiting to hear when the Welsh Assembly will determine that churches can reopen for public worship. Welsh churches were permitted to reopen for private prayer June 22.