"I am very happy to be here to talk about our cooperation," said Mohammad Javad Zarif, greeting his Cuban counterpart Bruno Rodriguez at a ceremony in front of the press in Havana, AFP reported.
"Iran and Cuba have made a united front in the face of pressure from the United States, pressure that can only be considered as economic terrorism," he added.
Zarif promised that cooperation between the two countries "in all fields, especially in energy, science and technology, will not be affected” by US sanctions.
US President Donald Trump's administration pulled out of the Iran nuclear agreement and has announced more than 130 measures to reinforce the embargo Cuba has faced since 1962.
Rodriguez stressed that Zarif's visit "is an important opportunity to continue to deepen our high-level political dialogue and to encourage economic, commercial, cooperation, cultural, scientific and academic ties".
The Cuban foreign minister said that his country condemns "the unilateral coercive measures imposed by the government of the United States on Iran" and defended "the right to the peaceful use of nuclear energy".
Before their meeting, Cuba’s official newspaper Granma had indicated that this would mark "the mutual solidarity between both nations, faced with the toughening of sanctions by the current US administration on countries that don't bend to its will."
"Cuba will support the peaceful use of nuclear energy and technology to contribute to socioeconomic development, and will condemn the decision of the United States government to unilaterally withdraw from... the nuclear agreement with Iran," added the Cuban newspaper.
It said the US decision "violates the rules of coexistence between states, and could provoke serious consequences for stability and security in the Middle East."
Zarif's visit to Cuba comes two days after he arrived in Venezuela, another regional ally subject to US sanctions.
Zarif will end his visit to the region by attending the inauguration of Bolivia's President-elect Luis Arce on Sunday.