The two countries plan for the joint production of commodity goods in Venezuela and the sale of Iranian medicine and surgical equipment in the oil-rich Latin American nation.
Maduro said the two countries had also agreed to develop a joint program in nanotechnology two nations.
Relations between Iran and Venezuela have expanded in recent years.
Iran is involved in a series of joint ventures worth several billion dollars in energy, agriculture, housing, and infrastructure sectors in Venezuela.
Iran’s main industrial projects in Venezuela include a car assembly plant, a tractor manufacturing complex and a cement factory.
The Islamic Republic has also built more than 3,000 residential housing units for less privileged citizens in Venezuela, with 7,000 more to be completed, the Press TV report said.