The vessels, which include a corvette and freighter, set sail from Iran last month, the Irna news agency said.
Their arrival comes six days after explosions destroyed an arms factory in the Sudanese capital, Khartoum.
Sudan has complained to the UN that Israel bombed the factory, which is believed to have been operated by Iran.
Israel has neither confirmed nor denied responsibility for the incident.
Anti-piracy patrol
According to Iranian state media, the naval task force which docked in Sudan on Monday morning includes the Shahid Naqdi, a corvette-class vessel, and the Kharg, a supply vessel that can carry three helicopters.
According to Iranian state media, the naval task force which docked in Sudan on Monday morning includes the Shahid Naqdi, a corvette-class vessel, and the Kharg, a supply vessel that can carry three helicopters.