We present a protocol that allows the generation of a maximally entangled state between individual atoms held in spatially separate cavities. Assuming perfect detectors and neglecting spontaneous emission from the atoms, the resulting idealized scheme is deterministic. Under more realistic conditions, when the atom-cavity interaction departs from the strong coupling regime, and considering imperfect detectors, we show that the scheme is robust against experimental inefficiencies and yields probabilistic entanglement of very high fidelity.