Queiroz's side were the benefactors of VAR late on in Saransk, as Cedric Soares was harshly adjudged to handle from Sardar Azmoun's header.
It was the final time that referee Enrique Caceres would call on his visual aid, having earlier awarded Portugal a penalty - which Cristiano Ronaldo failed to convert - before then utilising the system to conclude that a stray elbow from the Real Madrid star on Morteza Pouraliganji was only worthy of a booking.
And Queiroz, who managed his native Portugal during a poor 2010 World Cup campaign, was blunt in his criticism of the technology , which has played a huge part in a record number of penalties been awarded at this World Cup .
"We are the coaches, I want to know what's going on, I want to see what's going on. We can't see. They don't allow us to see," Queiroz told a news conference.
"The reality is you stop the game to VAR. There is an elbow that is a red card in the rules. It doesn't say whether it is [Lionel] Messi or Ronaldo. It is a red!
"The question for me is not about referees, it is about the attitude and the bravery and the character. The decisions must be clear for everybody.
"In my opinion, Mr Infantino and FIFA, everybody must agree that VAR is not going well, that is the reality. There's a lot of complaints.
"Who takes the decisions in the game? We have the right to know. We have VAR. Human mistakes were before, we accept that.
"The referees on the pitch are washing their hands, covering themselves with decisions because of the guys upstairs. The guys upstairs don't know what they should do.
"If you implement VAR, to then make mistakes? When you have high technology, training, and five guys sitting upstairs, and they don't see an elbow? Give me a break, give me a break."
Iran's penalty, converted emphatically by Karim Ansarifard, cancelled out Ricardo Quaresma's earlier stunner , with Mehdi Taremi squandering a golden chance to complete the comeback late on and send Queiroz's side through.
Portugal held firm, however, and Queiroz said he will now be fully behind his compatriots for the rest of the tournament.
"It was a very competitive World Cup game, minute-by-minute, duel-by-duel playing against one of the best teams in the world," he added.
"Iran, without any doubt, with discipline with attitude with the way we controlled the game, if there were some justice in football – which doesn't exist – there is only one winner that should come out of this and this should be Iran.
"Congratulations to Portugal. I hope they carry this on. Before the game I could not support them openly of course, but from now on they've won another supporter."