"The two top diplomats discussed bilateral cooperation, focusing on the energy sector," a statement from Russian Foreign Ministry said, reported Fars News Agency.
It noted that the two ministers also exchanged views on a number of important regional and international issues.
Zarif and Lavrov met on the sidelines of various international events on a regular basis to discuss mutual cooperation and ways to resolve the Syrian crisis.
The latest meeting between the Iranian and Russian foreign ministers took place in Singapore on the sidelines of the conference of the Association of Southeast Asian Nations (ASEAN).
In remarks last month, Russian Deputy Foreign Minister Sergei Ryabkov underlined that Moscow, Tehran and Beijing will increase their efforts to confront the reimposition of sanctions by the US in the coming days.
"Russia, Iran and China are doing their best to counter the unilateral US sanctions and also Washington's efforts to undermine the Joint Comprehensive Plan of Action (JCPOA)," Ryabkov said.
The Russian deputy foreign minister also strongly criticized European companies for refusing to cooperate with Iran in the wake of the mounting pressure by the US.
"Most European firms have ignored a blocking statute re-enacted by the EU to protect them against punitive American measures for trading with Iran," Ryabkov added.
He reiterated that their withdrawal has undermined Europe's wish to portray the nuclear deal with Iran as a flagship achievement of their foreign policy and a symbol of their growing strength.