The Guards' naval force "fired Ghaem and Almas missiles equipped with artificial intelligence from advanced Mohajer-6 and Ababil-5 drones", the IRNA state news agency said.
The report added that the missiles "successfully destroyed hypothetical enemy targets" during the drills.
Ghaem and Almas are both precision-guided missiles developed domestically by the Iranian defence ministry.
On Friday, the Guards launched a series of military exercises in the southwest of the country, including in Bushehr and Khuzestan provinces, and in Gulf waters.
The provinces are home to Iran's major oil and petrochemical facilities, with Bushehr also hosting the country's nuclear power plant.
Citing the "sensitive positions", Guards naval commander Alireza Tangsiri told IRNA that the exercises simulated protecting these locations.
Tangsiri also said that Iran was producing cruise missiles with ranges "exceeding 1,000 kilometres (621 miles) that are utilised with AI technology".
The deployment of the missiles comes months after remarks from Iran's supreme leader, Ayatollah Khamenei, urging the authorities to "master artificial intelligence".
Since its 1979 revolution, the Islamic republic has developed a series of sophisticated missiles and drones following its break in ties with the United States, which had been Tehran's main arms supplier.
The test of the missiles also comes days after the inauguration of US President Donald Trump, known for a "maximum pressure" approach towards Iran during his first term, which ended in 2021.
Trump said Thursday that he hoped to avoid strikes against Iranian nuclear sites, calling for a "deal" with Tehran, the sworn enemy of the US and its ally, Israel.
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