The visit at the invitation of Vietnamese Foreign Minister Bui Thanh Son comes as the two nations mark the 10th anniversary of their “comprehensive strategic partnership”, the government said in a statement.
Russia is Vietnam’s largest arms supplier and its companies are involved in several major energy projects in the country.
The two nations have close ties that date back to the Soviet era and Vietnam has so far failed to condemn Russia’s invasion of Ukraine, which Moscow calls a “special operation”.
In April, Vietnam voted against a resolution to suspend Russia from the UN Human Rights Council because of the war.
Trade between Vietnam and Russia increased by 25 percent last year to $7.1 billion, according to the statement.
Lavrov will attend a meeting of foreign ministers of the Group of 20 largest economies (G20) to be held on the Indonesian island of Bali later this week.