Iran, who makes its fifth appearance in the World Cup finals, will kick off its campaign against Morocco in St Petersburg on June 15.
It also faces Spain and Portugal in Group B as Queiroz aims to take the country into the knockout stages of the tournament for the first time.
Iran's 23-man World Cup squad:
Goalkeepers: Alireza Beiranvand (Persepolis), Rashid Mazaheri (Zob Ahan), Amir Abedzadeh (Maritimo);
Defenders: Pejman Montazeri (Esteghlal), Seyed Majid Hosseini (Esteghlal), Roozbeh Cheshmi (Esteghlal), Milad Mohammadi (Akhmat Grozny), Mohammad Reza Khanzadeh (Padideh), Morteza Pouraliganji (Alsaad), Ramin Rezaeian (Ostende), Ehsan Hajsafi (Olympiacos)
Midfielders: Saeid Ezatolahi (Amkar Perm), Masoud Shojaei (AEK Athens), Mahdi Torabi (Saipa), Omid Ebrahimi (Esteghlal), Vahid Amiri (Persepolis), Saman Ghoddos (Ostersunds), Ashkan Dejagah (Notthingham Forest)
Forwards: Alireza Jahanbakhsh (AZ), Karim Ansarifard (Olympiacos), Mahdi Taremi (Al Gharafa), Sardar Azmoun (Rubin Kazan), Reza Ghoochannejhad (Heerenveen)