Tehran became the ninth member of the regional bloc.
"The member states stressed the historical significance of the admission of the Islamic Republic of Iran to the SCO as a full Member State," said the New Delhi Declaration issued at the end of the summit, released on Tuesday evening.
The SCO members also noted the "importance" of signing the memorandum of obligations by Belarus to "achieve the status of an SCO member state."
In his address to the summit, Russian President Vladimir Putin urged the SCO to grant Belarus full membership.
Indian Prime Minister Narendra Modi, the host of the summit held virtually, said he was "happy Iran is becoming a member of SCO grouping," adding that the summit would also pave the way for Belarus to become a permanent member of the bloc.
Also, at this year's meeting, Kazakhstan will be taking over as chair of the eight-nation group from India.
Iran joined China, Russia, Kazakhstan, Kyrgyzstan, Pakistan, Tajikistan, India and Uzbekistan as full member during Tuesday summit where Belarus, and Mongolia were invited as observer state.
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