In the meeting, held in the Azeri capital of Baku on Wednesday, Zarif and Mammadyarov exchanged views about the development of cooperation between Iran and Azerbaijan in diverse economic fields, including the railroad and energy sectors.
The two sides also discussed a recent decision made by US President Donald Trump to declare Quds (Jerusalem) as the capital of the Israeli regime.
Zarif arrived in Baku on Tuesday to take part in a trilateral meeting between Iran, Turkey and Azerbaijan.
Slated for later on Wednesday, it will be the fifth meeting between the foreign ministers of the three countries.
They will exchange views on a broad range of issues in various economic fields including transit, transportation, energy, and customs.