During the Atlantic slave trade, Portugal and Spain transported enslaved people from Angola to Mexico where they arrived primarily to the port city of Veracruz.

[3] In 1985, Mexican Foreign Minister Bernardo Sepúlveda Amor paid a visit to Angola, becoming the first high level government official to do so.

[4] In March 2006, Angolan Prime Minister Fernando da Piedade Dias dos Santos paid a visit to Mexico where he met with President Vicente Fox.

In November 2018, Angola closed its embassy in Mexico City due to budgetary restrictions.

[8] High-level visits from Angola to Mexico[4][6] High-level visits from Mexico to Angola[3][4][9] Both nations have signed the following bilateral agreements: Memorandum of Understanding for the establishment of a consultation mechanism on materials of mutual interest (2004); Agreement on Educational, Cultural and Technical Cooperation (2014) and a Memorandum of Understanding of Diplomatic and Academic Cooperation (2014).