The trip was Maliki's fourth to the neighboring Shiite state since he became prime minister. He had meetings President Mahmoud Ahmadinejad and Parviz Daoudi, the first vice president, Fars News Agency reported.
At a news conference, Maliki said the goal of his trip was a wider relationship between Iran and Iraq, the Tehran Times said. He said Cabinet members from both countries will supervise the two committees.
Maliki told reporters Iraq needs peace and stability to develop its infrastructure. He said he hopes for similar economic agreements with other neighbors, including Saudi Arabia, Syria and Turkey.