US President Donald Trump on Friday approved sending American troops to bolster Saudi Arabia’s air and missile defences after the September 14 attacks on Saudi oil sites.
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Iran's President Hassan Rouhani said on Sunday that the presence of foreign forces creates "insecurity" in the Gulf after the US ordered the deployment of more troops to the region.
"Foreign forces can cause problems and insecurity for our people and for our region," Rouhani said during a televised speech at an annual military parade. He added that Iran would be presenting to the UN a regional cooperation plan for peace.
Rouhani's statement comes after tensions escalated this week between the US and Iran following an attack on Saudi oil installations that Washington and Riyadh have blamed on Tehran.
After the attacks, the US announced on Friday that it would send reinforcements to Saudi Arabia if the kingdom requested them.
In his speech on Sunday, Rouhani called on the foreign powers in the Gulf region to "stay away".
"If they're sincere, then they should not make our region the site of an arms race," he said.
"Your presence has always brought pain and misery for the region. The farther you keep yourselves from our region and our nations, the more security there will be for our region."
Rouhani said Iran would present a plan for peace to the United Nations in the coming days.
"In this sensitive and important historical moment, we announce to our neighbours, that we extend the hand of friendship and brotherhood to them," he said.