Let $-(n+1)<m\le -(n+1)(1-\rho )$ and let $T_a\in {ℒ}_{\rho ,\delta }^m$ be pseudo-differential operators with symbols $a(x,\xi )\in {ℝ}^n\times {ℝ}^n$, where $0<\rho \le 1$, $0\le \delta <1$ and $\delta \le \rho$. Let $\mu$, $\lambda$ be weights in Muckenhoupt classes $A_p$, $\nu ={\left(\mu {\lambda }^{-1}\right)}^{1/p}$ for some $1<p<\infty$. We establish a two-weight inequality for commutators generated by pseudo-differential operators $T_a$ with weighted BMO functions $b\in {\mathrm{BMO}}_{\nu }$, namely, the commutator $[b,T_a]$ is bounded from $L^p\left(\mu \right)$ into $L^p\left(\lambda \right)$. Furthermore, the range of $m$ can be extended to the whole $m\le -(n+1)(1-\rho )$.