"We do not approve of Iran's constant demonstration of its intention to develop its missile sector, and to continue uranium enrichment," Sergei Lavrov said, commenting Iran's announcement of a missile test launch.
However, he said that "from the standpoint of international law such actions are not forbidden."
Iran is currently involved in a long-running dispute with the West over its controversial uranium enrichment program, with two sets of UN sanctions against Tehran in effect. The U.S. and its allies fear that both programs may serve as a cover for the development of nuclear weapons and long-range ballistic missiles.
Lavrov said that there are positive tendencies in cooperation between Tehran and the United Nations nuclear watchdog, the International Atomic Energy Agency (IAEA).
"There is a positive tendency, namely Iran's cooperation with the IAEA on the resolution of issues which emerged as a result of Iran's activities in the past," he said.
Russia called on Iran on January 5 to freeze uranium enrichment until key issues in its nuclear program have been cleared up with the IAEA.