In a meeting held on Margarita Island on the sidelines of the 17th NAM (Non-Aligned Movement) summit, Zarif and Algerian Foreign Minister Ramadan al-Amamrah exchanged views about issues ranging from bilateral ties to the latest developments in the Middle East.
During the session, al-Amamrah said he will visit Tehran in the near future.
In a separate meeting, the Iranian foreign minister and his Pakistani counterpart Sartaj Aziz explored avenues for closer cooperation between Tehran and Islamabad in international organizations.
The two sides also discussed the latest developments in the region.
While Zarif has been in Venezueal since Tuesday, Iranian President Hassan Rouhani also arrived in the Latin American country on Friday for the 17th NAM summit.
The summit started on Margarita Island on September 15, and will wrap up on September 18, 2016. The Non-Aligned Movement is a group of states which are not formally aligned with or against any major power bloc.
Rouhani will later travel to the US to attend the 71st Regular Session of the United Nations General Assembly in New York.