In a statement, the diplomatic mission said the shipping line aimed to support Iranian and Venezuelan businesspeople.
The first ship has already left an Iranian port for Venezuela and that one vessel will set sail for the Latin American nation every three months, the statement added.
The maritime transport line is part of joint efforts by Iran and Venezuela, both targeted by US sanctions, to offset restrictions.
Last week, Venezuelan satellite news television network Telesur reported that the two largest Iranian carmakers, Iran Khodro and Saipa, used the direct shipping line to deliver thousands of cars to the South American country.