Iran have been drawn in Group B alongside former World Cup winners Spain, reigning European champions Portugal and Morocco.
"Being in Russia is a dream come true for Iranian football," Iran manager Carlos Queiroz said. "We have achieved this through hard work and sacrifices, which only heightens how honoured and privileged we feel to be here.
"The Iranian national team will relish rubbing shoulders with the best teams and being part of this fantastic World Cup family. We arrive raring to keep this dream going for as long as possible and we look forward to playing our part in making this the best World Cup ever."
Iran will be based at the Lokomotiv Bakovka Training Centre in the Moscow region. This will be their fifth appearance at the finals.
Queiroz's side play a friendly against Lithuania in Moscow on Jun 8 and kick off their campaign against Morocco at St Petersburg Stadium on Jun 15.
