Tehran told the organisation that this was not possible given the current security situation, according to an IAEA report issued on Friday.
Since the start of US and Israeli attacks on Iranian nuclear facilities last year, the Islamic Republic has agreed to hardly any IAEA inspections.
UN nuclear inspectors have only been permitted a recent visit to the Bushehr nuclear power plant.
However, the IAEA and western states are demanding verification in particular of the almost weapons-grade uranium that Iran has produced in recent years.
IAEA chief Rafael Grossi has proposed a gradual rapprochement between his organisation and Tehran, according to his latest report.
He said this could help build trust and pave the way for a broader agreement.
Grossi called for technical talks on future inspections. He also demanded that Iran provide a status report on the facilities that had not been attacked by the US and Israel.
He stressed the IAEA's growing concern about a lack of information from Tehran on a planned additional uranium enrichment facility.
Highly enriched uranium can be used to make nuclear weapons. Tehran denies having such intentions.
Iran recently justified its blockade of IAEA inspections partly by pointing to a US reward of up to $20 million for information on Iran's nuclear program, offered last week.
Nobody could demand inspections as long as the nuclear program and its staff were exposed to "killings, sabotage and aggression," it said.
In the IAEA report, Iran nevertheless reaffirmed its "firm commitment to resume full implementation of its safeguards obligations as soon as the relevant legal and actual conditions permit it."
According to the IAEA, Iran maintains a stockpile of 440.9 kilograms of uranium enriched up to 60 per cent purity — a short, technical step away from weapons-grade levels of 90 per cent.
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