The veteran leader, 91, seized the opportunity of a televised press conference with President Jacob Zuma in Pretoria to lambast the United Nations Security Council, the United States and former colonial power Britain.
"We want a political environment in which we are not interfered with by outsiders and we become masters of ourselves in Africa," Mugabe told reporters.
"We don't think we are getting a fair deal at the United Nations.
Mugabe said the developing world should stand together against the US, France and Britain, who make up three of five permanent members of the UN security council.
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"They disturb the Arab world and leave (it) torn apart. Look at what they did to Libya," he said, adding that US-led wars in Iraq revealed the "messy, reckless, brutal approach of the West".
Mugabe, who is often accused of human rights abuses in Zimbabwe, said his state visit to Pretoria represented Africa's victory over colonialists.
"Now we are our own people, and we have President Zuma here and President Mugabe in Zimbabwe -- that is what what you fought for," he said.
Mugabe provoked laughter from some officials when he spoke about a statue of British colonialist Cecil Rhodes in Cape Town that has been vandalised in recent student protests.
Rhodes is buried in Zimbabwe, which was called Rhodesia until independence in 1980 when Mugabe came to power.
"We are looking after the corpse. You have the statue of him," Mugabe said. "I don't know what you think we should do -- dig him up? Perhaps his spirit might rise again."
Zimbabwe has been on a downturn for more than a decade due to low growth and high unemployment.
Zimbabwe's economy entered a tailspin after the launch of controversial land reforms 14 years ago. By 2008, inflation had officially peaked at 231 million percent before the government stopped counting.