"When NATO is ready, I think we will consider returning to these formats, as well," Lavrov said on the sidelines of the Munich Security Conference.
He added that NATO officials have expressed willingness to continue dialogue with Russia, including on military cooperation.
Russia has repeatedly denied the allegations, assuring that it is not involved in the Ukrainian conflict.
Following the reunification of Crimea with Russia in March, NATO boosted its military presence close to Russian borders, specifically in the Baltics. Moscow has repeatedly expressed concern over alliance's increased military presence in its neighboring states.
In April, NATO ended all logistical cooperation with Russia, maintaining contacts only at ambassadorial and higher levels.