He was was received at Leopold Sedar Senghor Airbase by Senegal's President Macky Sall.
Also at the airport to receive the Emir and his accompanying delegation were Senegal's Prime Minister Mahamed Dionne, several ministers, Qatar's Ambassador to Senegal Saree bin Ali al-Qahtani, Senegal's Ambassador to Qatar Mamadou Mamdo Sall and members of the Qatari Embassy.
His Highness the Emir Sheikh Tamim bin Hamad al-Thani holds discussion with Senegal's President Macky Sall
His Highness the Emir Sheikh Tamim bin Hamad al-Thani and Senegal President Macky Sall witness the signing of an agreement between Qatar and Senegal at the Presidential Palace in Dakar yesterday
The Emir was accorded an official reception ceremony.
Later, the Emir and Sall witnessed the signing of a number of memorandums of understanding (MoUs) between Qatar and Senegal.
Among them were cultural co-operation agreement, a memorandum of understanding for co-operation in field of sports and another on co-operation in the field of youth.
The Emir later attended a dinner banquet hosted by Sall at the Presidential Palace in Dakar.
The banquet was attended by Senegal's prime minister, Senegalese ministers and high-ranking officials.
The visit is part of a six-nation tour of West Africa as Qatar seeks out new markets after Saudi Arabia and other Arab countries cut ties with Qatar.
The other countries on the Emir's itinerary are Burkina Faso, Ivory Coast, Ghana, Guinea and Mali, Qatar's Foreign Ministry spokeswoman Lulwa al-Khater said at a press conference earlier in Doha.
The Emir is expected to arrive in Conakry later today, Guinean presidency said in a statement.
A source close to the Malian presidency told AFP that President Ibrahim Boubacar Keita was also expecting the Emir today.
The visit is part of Qatar's drive to open up new markets and diversify its economy amid an ongoing blockade by its neighbours, al-Khater said.
She said the six countries on the Emir's itinerary had "strong economic potential and opportunities despite some security challenges in some of them".The Emir is to sign co-operation agreements in health, education, mining, energy and food security.
Al-Khater said Qatar will also be providing $13.8mn to fund a cancer hospital in Burkina Faso.
Qatar has sought to establish new global trade links in an attempt to alleviate its regional isolation by Saudi Arabia with which it shares its only land border.
On June 5, Saudi Arabia, United Arab Emirates, Bahrain and Egypt severed diplomatic and economic ties with Qatar, accusing it of links to extremist groups and being too close to Iran.
Qatar denies the charges.