Television showed footage of the elite Revolutionary Guards firing the missiles from mobile launching pads on the shore, and from warships.
The three new types of missiles, named Noor, Kowsar, and Nasr, have a range of about 170 kilometers and were built for naval warfare, TV reported.
The weapons are "suitable for covering all the Strait of Hormuz, the Persian gulf and the sea of Oman" said Admiral Sardar Fadavi, the deputy navy chief of the Revolutionary Guard.
The Revolutionary Guards began maneuvers on Thursday, shortly after a US-led military exercise in the Gulf.
Iran had said the maneuvers, which will last until Nov. 11 and will include drills in the Gulf and Sea of Oman, would be a show of "defensive strength".
"Shahab missiles were fired. Its range is up to 2,000 km and it can carry cluster warheads," a reporter for state-owned Arabic-language al-Alam television told Reuters from central Iran, near where he said the missiles were fired.