Diplomatic relations were established in 1931.
Uruguay did not recognize de jure the incorporation of Lithuania into the Soviet Union.
On 28 August 1991 Uruguay recognized the re-established independent State of Lithuania.
Diplomatic relations were re-established on 8 March 1993.
From 1997 to 1999, Vytautas Antanas Dambrava served as the first Ambassador of Lithuania to Uruguay after the re-establishment of independence (resided in Spain).
From 2003 to 2004 Carlos Daniel Amorin Tenconi served as the first Ambassador of Uruguay to Lithuania after the re-establishment of independence (resided in Poland).