"The United States welcomes the United Nations' final passage of the resolution calling upon the government of Iran to respect its human rights obligations fully," State Department spokesman Robert Wood said.
The UN General Assembly formally adopted a resolution first approved by committee last month.
The resolution blasted Iran for "serious, ongoing and recurring" human rights violations, including violence against protesters after the disputed June presidential elections.
"The international community has demonstrated once again its deep concern about the deteriorating human rights situation in Iran and the government's failure to uphold its obligations under its own constitution and international human rights law," Wood said in a statement.
The statement hailed the resolution for calling on "Iran to abolish torture and arbitrary imprisonment, as well as any executions carried out without due process of law.
"The resolution also calls on Iran to release political prisoners, including those detained following the June election," it said.
"Finally, the resolution calls on Iran to cooperate fully with and admit entry to the UN Special Rapporteur on torture or other cruel, inhuman or degrading treatment or punishment," it said.
"Those in Iran who are trying to exercise their universal rights should know that their voices are being heard," it said.
