Mr Zarif, whose resignation was rejected by President Hassan Rouhani this week, taunted Mr Trump on Twitter by saying Washington would not get a better Iran nuclear deal than the one it scrapped last year. The second summit between Mr Trump and Kim broke collapsed over sanctions and the two sides gave conflicting accounts of exactly what happened, raising questions about the future of their denuclearisation talks.
Mr Zarif tweeted: “President Trump should’ve now realised that pageantries, photo-ops and flip-flops don’t make for serious diplomacy.
“It took 10 years of posturing plus two years – literally thousands of hours – of negotiations to hammer out every word of the 150 page JCPOA Iran nuclear accord.
“You’ll never get a better deal!”
White House press secretary Sarah Sanders earlier said on Twitter: “President Barack Obama refused to walk away from a bad deal with Iran. President Donald Trump refuses to make the same mistake with Iran, North Korea, or anybody else.”
Mr Zarif is back in his job after Mr Rouhani refused to a accept his resignation and is widely believed to have strengthened his position thanks to the presidential endorsement and a chorus of support from moderate Iranian MPs, a senior Revolutionary Guards commander, and Supreme Leader Ayatollah Ali Khamenei.
Mr Trump ripped up the Iran nuclear deal last May and reimposed US sanctions on the Islamic Republic.
Mr Zarif came under heavy criticism from hardline opponents who accused him of selling out his country by signing the deal in the first place.
The political situation in North Korea remains uncertain after the failed summit in Hanoi.
Mr Trump described the talks as “substantive” and said: “We know what they want and they know what we must have.”
The two sides gave different reasons for the abrupt end in talks about denuclearisation on the Korean Peninsula.
Mr Trump said Pyongynag wanted all sanctions lifted in their entirety but North Korean foreign minister Ri Yong Ho disputed the claim and said his team had only requested a partial lifting in exchange for dismantling a nuclear site at Yongbyon.
South Korean President Moon Jae-in, who has actively supported the talks, said South Korea will work with the US and North Korea to ensure an agreement on denuclearisation.