Iranian President Ebrahim Raisi and his Cuban counterpart Miguel Diaz-Canel signed the joint communiqué in Tehran on Monday to strengthen strategic relations between the two countries.
They also observed a ceremony during which top officials from the two states signed seven documents and memorandums of understanding (MoUs).
The agreements entail closer interaction between Tehran and Havana in various fields, such as science and technology, health care, agriculture, energy and mine industry, telecommunication, and medicine.
Diaz-Canel became the first Cuban president to visit Iran after 22 years.
Late Cuban leader Fidel Castro was the last president of the Central American country who traveled to Iran in May 2001.