His visit comes at the official invitation of the Iranian Defense Minister Brigadier General Hossein Dehqan.
Shoygu is heading a high-profile delegation which is slated to hold talks with his Iranian counterparts on a multiplicity of bilateral, regional and international issues.
The two ministers are also expected to sign an agreement on Iran-Russia military and defensive cooperation.
Tehran and Moscow have ramped up military cooperation in recent years.
In October 2014, a Russian naval fleet, consisting of two missile-launching warships, berthed at the Iranian northern port city of Anzali to convey the message of peace and friendship.
Earlier in October 2013, Commander of the Russian Federation Air Force Major General Viktor Bondarev paid a visit to Iran at the invitation of Iranian Air Force Commander Brigadier General Hassan Shahsafi.
The two top officers had discussed diverse topics such as exchange of expertise regarding pilot training, as well as Iran’s capability to train Russian aviation students, during that meeting.