"This is a historic victory which is a record from 1992. Hundred ninety one UN member states have voted against the unjust blockade policy the United States has been implementing against my country for 55 years," Emilio Garcia Lozada said in a speech commemorating the UN vote.
In December 2014, US President Barack Obama announced the United States would normalize relations with Cuba.
Despite some progress, Washington continues to uphold a congressionally-mandated embargo on Havana, which remains in place after over 24 years.
"Cuba will always be with Russia, and Russia will also be with Cuba," the ambassador said at an event commemorating the UN General Assembly vote, pointing to USSR-Cuba relations in the past.
According to the ambassador, Russia is also subject to sanctions and political limitations imposed by the West, and will overcome the restrictions.
"Cuba says today – Russia, you are not alone. Cuba is with you," Garcia Lozada said.
Cuba and Russia have enjoyed warm relations, dating back to Soviet times. Moscow and Havana currently cooperate closely in energy and civil aviation, and are also working on a program to modernize Cuba's power plants.