The ex-Real Madrid coach was sacked as Team Melli coach after a 3-0 defeat against Japan in the 2019 AFC Asian Cup.
The 69-year-old Portuguese coach has again taken charge of Iran as replacement of Dragan Skocic.
Queiroz took Iran to the 2014 and 2018 World Cup finals during an eight-year stint at the helm, the longest in the national team's history.
"Carlos Queiroz was chosen as the head coach of Iran's national football team," the federation of Iran confirmed on its website.
"In addition, Mr. Dragan Skocic, the former head coach of Iran's national football team, will be thanked for his efforts during his cooperation with the Football Federation," it added.
Iran will compete at the World Cup for the sixth time.
It begins its campaign against England on November 21 and will also play Wales and the US in Group B.