Iran has been drawn in Group B alongside former World Cup winner Spain, reigning European champion Portugal and Morocco.
Team Melli will start the event with a match against Morocco on June 15.
"Being in Russia is a dream come true for Iranian football," Queiroz told Reuters. "We have achieved this through hard work and sacrifices, which only heightens how honored and privileged we feel to be here."
Iran will be based at the Lokomotiv Bakovka Training Centre in the Moscow region. This will be its fifth appearance at the finals.
"The Iranian national team will relish rubbing shoulders with the best teams and being part of this fantastic World Cup family. We arrive raring to keep this dream going for as long as possible and we look forward to playing our part in making this the best World Cup ever."
Queiroz's side will play a friendly against Lithuania in Moscow on Jun 8.