Naimi said global production lost four million barrels per day due to natural depreciation and predicted an increase in demand of one million bpd.
"The oil industry is required to add new production capacity of 5.0 million bpd to compensate for the natural loss in production and meet the growth in global demand," he told an energy conference in Manama.
"Large investments are required to meet such needs. We must continue and even increase the pace of investments in the energy sector."
Saudi Arabia said this month that more than USD 200 billion worth of energy projects worldwide had been cancelled this year and more cancellations were expected in 2016.
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Naimi said that over the next decade, Arab countries, which hold 56 per cent of proven global crude reserves and 27 per cent of gas deposits, would need to invest around USD 700 billion in energy projects to boost production.
He also called for efforts to stabilise the energy market, saying that Saudi Arabia was prepared to work with OPEC and non-OPEC producers to support prices.
But the undersecretary of the UAE's energy ministry Matar Hamed al-Neyadi defended OPEC's policy to safeguard its market share rather than support prices.
"We believe the OPEC policy is the right one ... 2016 could witness some (upward) correction in the oil market," Neyadi told the conference.
OPEC holds a crucial meeting in Vienna on December 3 to assess the market amid calls for a cut in production.
Experts taking part in the conference gave some backing to OPEC's optimism about an improvement in the market next year.
"The rebalancing process has started but the impact on the oil price will be slow," Bassam Fattouh, director of Oxford Institute for Energy Studies, said.