Press TV reported Ahmadinejad made the statements while attending a ceremony in Tehran marking the departure of a humanitarian convoy to the Gaza Strip.
Ahmadinejad said Palestine should be liberated, adding Israel's existence is an insult to humanity, the network reported.
He called on the international community to join forces and end the Palestinian crisis, saying the freedom and liberation of Palestine is a "key issue."
The convoy will head from Iran to Turkey, then to Syria and Egypt from where it will attempt to enter Gaza, the report said.
Israel imposed a full blockade on the Gaza Strip in June 2007 after the militant Hamas took control of the area.