Salehi made the remarks at a ceremony marking the 40th anniversary of the establishment of Iran-Oman relations in Tehran on Tuesday.
"The action plan will be the sole way to achieve lasting security in the region," the Iranian foreign minister said.
Salehi pointed to the influential role of the regional states in guaranteeing the security of the Persian Gulf, and said, "Such an important goal will be achieved only through collective participation of regional states free from foreign intervention.
"The Islamic Republic of Iran has for a long time been supporting collective security cooperation among the Persian Gulf littoral states," the Iranian foreign minister said.
Earlier this year, Salehi cautioned the Persian Gulf Cooperation Council (PGCC) member-states against the plots hatched by certain foreign states to create disunity among the regional nations.
The issue was raised by Iranian Foreign Minister Ali Akbar Salehi in an introductory meeting of the High Persian Gulf Council in Tehran. Iranian ambassadors to the Persian Gulf states, governor-generals of the Persian Gulf neighboring provinces as well as members of related committees attended the meeting.
Salehi pointed to the enemies' conspiracies to make division among regional countries and asked neighboring provinces' local officials to do their best to activate economic collaboration between Iran and PGCC countries.
Persian Gulf security should be provided by the regional states through a framework of collective cooperation, Salehi pointed out.
Established in 1981, the PGCC was originally conceived as a way for conservative Arab Persian Gulf states to avoid involvement in the Iran-Iraq War, which had begun the previous year and went on until 1988.
PGCC members include Saudi Arabia, Oman, the United Arab Emirates, Kuwait, Bahrain and Qatar.