The Apple Maps rival, which will also be available for Android and Windows Phone, offers turn-by-turn navigation and live traffic updates.
Users running the Android and Windows Phone versions of the software will have access to an offline mode, but the iOS edition uses HTML5 technology, requiring an internet connection.
"People want great maps, and with Here we can bring together Nokia's location offering to deliver people a better way to explore, discover and share their world," said Nokia President and CEO Stephen Elop.
"Additionally, with Here we can extend our 20 years of location expertise to new devices and operating systems that reach beyond Nokia. As a result, we believe that more people benefit from and contribute to our leading mapping and location service."
The announcement will be welcomed by the iOS community given how poorly Apple's built-in iOS 6 mapping service has been received.
Apple's decision to drop Google Maps in favour of a first-party alternative developed in conjunction with TomTom was much-publicised, but the service's launch was marred by mass reports of inaccuracies, a blunder Apple is still recovering from.
A release date for the Nokia Here Maps app is yet to be announced, but the web-based version of the service is now up and running.