Saudi Arabia and its Persian Gulf Arab allies have carried out military operations in Yemen over the past days, killing dozens of civilians in Sana'a, the capital, and other cities.
"Saudi Arabia's attack on Yemen is definitely condemned, and will result in failure," Boroujerdi said, speaking to reporters in Tehran on Saturday.
"There are numerous instances in history similar to (the recent aggression on) Yemen - from the Soviet Union's attack on Afghanistan to other aggressions on regional countries," he said, adding that they all failed and so will this one.
In similar remarks on Thursday, Iranian Foreign Ministry Spokeswoman Marziyeh Afkham denounced the invasion and described it as a "dangerous step that runs counter to international obligations to respect countries' national sovereignty".
Elsewhere in his comments, Boroujerdi brushed off as insignificant a recent anti-Iran threat by Saudi officials.
Earlier on Thursday, Saudi-owned al-Arabiya quoted a Saudi military official as saying that countries supporting the Ansarullah group in Yemen will soon face similar attacks by the Riyadh-led coalition.
Iran has repeatedly voiced its steadfast opposition to foreign interference in Yemen, saying that the conflicts should be settled domestically.