0913 GMT July 21, 2019
Zarif and Al Thani discussed bilateral and security ties as well as stability of the region, IRNA reported.
The two sides also voiced their support for the UN-brokered peace talks on Yemen, which was recently held in Stockholm, Sweden.
Tehran and Doha have enjoyed growing relations during recent years.
Qatar is under scrutiny from regional powers over its relationship with Iran.
Since last June, Saudi Arabia, the United Arab Emirates, Bahrain and Egypt have imposed a sweeping diplomatic and economic embargo on Qatar.
The four countries accuse Doha of seeking closer ties with Iran, as well as supporting radical Islamist groups.
Qatar, which shares the world's largest natural gas field with Iran, denies the charges, saying its former allies are seeking to undermine its sovereignty.
The Iranian top diplomat also held separate meeting with his Qatari counterpart Mohammed bin Abdulrahman Al Thani.
Heading a high-ranking delegation, Zarif left Tehran for Doha on Saturday morning to participate in the Doha Forum 2018 at the official invitation of the Arab country.
Established in 2000, the Doha Forum is a platform for global dialogue on critical challenges facing our world. The Doha Forum promotes the interchange of ideas, discourse, policy-making, and action-oriented recommendations. In a world where borders are porous, our challenges and solutions are also interlinked, according to the forum’s official website.