South Africa already has similar arrangements with Botswana, Namibia, Mozambique, Lesotho, Mauritius and Swaziland.
The situation will be reviewed in a year's time.
Nosiviwe Mapisa-Nqakula said the lifting of visa restrictions against Zimbabweans visiting South Africa for up to three months at a time does not mean they will be allowed to work in South Africa without the necessary documentation.
The minister also signed a memorandum of understanding with her Zimbabwean counterparts, Giles Mutsekwa of the Movement for Democratic Change and Kembo Mohadi of Zanu-PF.
Mutsekwa said the Zimbabwean government would ensure that all the requirements in terms of the lifting of the restrictions would be met.
"We will ensure the documents that are required are issued," said Mutsekwa.
Mapisa-Nqakula warned that people not acting within the ambit of the law would be deported.
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