The two officials are expected to discuss overall bilateral relations, including economic and multilateral cooperation, the situation in the region, and world crisis points.
Lavrov will also meet Parliament Speaker Vladimir Seks, Prime Minister Ivo Sanader and Foreign Minister Miomir Zuzul.
After the meeting with Zuzul, the two officials will give statements for the press.
Lavrov and Zuzul on Wednesday met in Brussels, where they attended a ministerial meeting of NATO's Euro-Atlantic Partnership Council.
Jevgeny Primakov was the last Russian foreign minister to visit Croatia in 1998.
Before Zagreb, Lavrov visited Sofia, Tirana and Skoplje. The purpose of his tour is the development of overall cooperation with Central and South-East European countries in line with the policy of Russian President Vladimir Putin aimed at strengthening Russia's role in stabilisation processes in the Balkans.