The match will be held at the Azadi Stadium.
Iran had already defeated Venezuela 1-0 in a friendly match held in Nijmegen, Netherlands, in November 2017 as part of preparation for the 2018 World Cup.
Team Melli will reportedly meet Trinidad and Tobago five days earlier at the Azadi Stadium.
Carlos Queiroz’s men, who defeated Uzbekistan 1-0 in September, will host Bolivia on October 16 in Tehran.
Team Melli is preparing for the AFC Asian Cup UAE 2019, where it has been pitted against Iraq, Vietnam and Yemen.