In the meeting, held in Caracas on Saturday evening (local time), the Iranian top diplomat and the Venezuelan president exchanged views about issues of mutual interest.
The two sides discussed bilateral relations between the Islamic Republic and the Latin American country in various fields and the latest regional and international developments.
Zarif has visited Venezuela for a meeting of the Non-Aligned Movement (NAM) after a trip to New York where he attended a conference at the United Nations.
In Caracas, Zarif addressed the Ministerial Meeting of the Coordinating Bureau of the Non-Aligned Movement.
The Iranian foreign minister is also planned to hold meetings Foreign Minister Jorge Arreaza, the Venezuelan Parliament speaker, as well as his foreign counterparts taking part in the NAM conference.
Zarif will also visit Nicaragua and Bolivia during his tour of Latin America.