Foreign Minister Mohammad Javad Zarif said holding discussions with Spanish officials on relations with the European Union and the challenges facing the Middle East were among the purposes of his trip.
He made the remarks upon arrival in Madrid on Tuesday, IRNA reported.
There are a lot of important issues at the regional level, specifically in Yemen, which are "common problems" for the countries in the region and other members of the international community, he noted.
Zarif went on to say that in his meetings with Spanish officials, he will discuss the situation in North Africa which is gripped by the extremist actions of the so-called Islamic State (IS) militant group.
Elsewhere, he pointed to Iran-Spain economic relations and stated that economic ties between the two countries have been reduced due to sanctions.
The foreign minister also said Iran has entered a "new phase" of cooperation and dialogue with other countries.
Zarif expressed hope that Iran and Spain would be able to improve ties through adopting "constructive" positions.
The senior diplomat is also scheduled to visit Portugal after leaving Madrid.
