Senior Iranian officials have rejected US President Donald Trump's offer of talks without preconditions as worthless and "a humiliation" after he acted to reimpose sanctions on Tehran following his withdrawal from a landmark nuclear deal.

Key points: Iran calls Mr Trump's withdrawal from the 2015 nuclear deal "illegal"

Iran calls Mr Trump's withdrawal from the 2015 nuclear deal "illegal" Iran's interior minister says the US is "not trustworthy"

Iran's interior minister says the US is "not trustworthy" Mr Trump reactivated US sanctions and warned countries to stop importing Iranian oil

Separately, Iranian President Hassan Rouhani said Mr Trump's repudiation of the accord reached in 2015 was "illegal" and Iran would not easily yield to Washington's renewed campaign to strangle Iran's vital oil exports.

In May, Mr Trump pulled the United States out of the multilateral deal concluded before he took office, denouncing it as one-sided in Iran's favour.

On Monday, he declared that he would be willing to meet Mr Rouhani without preconditions to discuss how to improve relations.

Sorry, this video has expired US President Donald Trump says he would meet with Iran's leader

'Bad experiences' with US negotiations

The head of Iran's Strategic Council on Foreign Relations said on Tuesday Tehran saw no worth in Mr Trump's offer, made only a week after the US President warned Iran it risked dire consequences few had ever suffered in history if it made threats against Washington.

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"Based on our bad experiences in negotiations with America and based on US officials' violation of their commitments, it is natural that we see no value in his proposal," Kamal Kharrazi was quoted as saying by the semi-official Fars news agency.

"Trump should first make up for his withdrawal from the nuclear deal and show that he respects his predecessor's commitments and international law," added Mr Kharrazi, a former foreign minister.

The council was set up by Iranian Supreme Leader Ayatollah Ali Khamenei to help formulate long-term policies for the Islamic Republic.

Mr Trump's move to force Iran into fresh negotiations has for now reunited Iranian hardliners who opposed the nuclear deal and moderates like Mr Rouhani who championed it to end the Islamic Republic's economically crippling stand-off with Western powers.

Sorry, this video has expired What Trump wants from talks with Iran

Ali Motahari, the deputy speaker of Iran's parliament who is seen as part of Iran's moderate camp, said that to negotiate with Mr Trump now "would be a humiliation".

"If Trump had not withdrawn from the nuclear deal and not imposed (new) sanctions on Iran, there would be no problem with negotiations with America," he told state news agency IRNA.

'Not trustworthy'

Iran's Interior Minister chimed in that Tehran did not trust Washington as a negotiating partner.

"The United States is not trustworthy. How can we trust this country when it withdraws unilaterally from the nuclear deal?" Abdolreza Rahmani Fazli was quoted as saying by Fars.

A senior aide to Mr Rouhani said the only way back to talks was for Washington to return to the nuclear agreement.

"Respecting the Iranian nation's rights, reducing hostilities and returning to the nuclear deal are steps that can be taken to pave the bumpy road of talks between Iran and America," Hamid Aboutalebi tweeted on Tuesday.

Under the 2015 deal, the fruit of Mr Rouhani's efforts to ease Iran's international isolation to help revive its economy, Iran curbed its shadowy nuclear programme and won relief from UN and Western sanctions in return.

Reactivated sanctions

Restored US sanctions have given rise to fears of prolonged economic suffering and further civil unrest. ( AP: Vahid Salemi )

Mr Trump condemned the deal in part because it did not cover Iran's ballistic missile program and involvement in Middle East conflicts.

He reactivated US sanctions, the most all-encompassing measures against Iran, and warned countries to stop importing Iranian oil from November 4 or risk US penalties.

The three major European signatories to the 2015 deal have been searching for ways to salvage it but cautioned Tehran that they may not be able to persuade many major investors not to bolt from business with Iran to avoid US punishment.

Mr Rouhani said during a meeting with Britain's ambassador on Tuesday that after what he called the "illegal" US withdrawal from the nuclear deal, "the ball is in Europe's court now".

The walls of the former American embassy in Tehran are emblazoned with anti-US graffiti. ( ABC News: Freya Petersen )

"The Islamic Republic has never sought tension in the region and does not want any trouble in global waterways, but it will not easily give up on its rights to export oil," he said.

Mr Rouhani and some senior military commanders have said Iran could disrupt oil shipments from Gulf states through the Strait of Hormuz if Washington tries to choke off Iranian oil exports.

Iran's OPEC governor, Hossein Kazempour Ardebili, said Mr Trump was mistaken to expect Saudi Arabia and other oil producers to compensate for losses of Iranian oil caused by US sanctions.

"It seems President Trump has been taken hostage by Saudi Arabia and a few producers when they claimed they can replace 2.5 million barrels per day of Iranian exports, encouraging him to take action against Iran," Mr Ardebili said.

"Now they and Russia sell more oil and more expensively. Not even from their incremental production but their stocks."

He said oil prices, which Mr Trump has been pressuring the Organisation of the Petroleum Exporting Countries to bring down by raising output, will instead rise unless the United States grants waivers to buyers of Iranian crude.

Sorry, this video has expired Iranian President warns Trump 'don't play with the lion's tail'

Reuters/AP