Estonia and Latvia exchanged diplomatic representatives already in December 1918. Diplomatic relations between the two countries were restored on 6 September 1991. Leili Utno presented her credentials in June 1992 as the first Estonian Ambassador to Latvia following the restoration of independence.
Artis Hilpus is the current Estonian Ambassador to Latvia, having presented his credentials to Latvian President Raimonds Vējonis on 31 July 2018. The Embassy of Latvia in Tallinn is headed by the ambassador Raimonds Jansons since 8 June 2017.
In June 2007 the Estonian and Latvian prime ministers originated the idea for an Estonia-Latvia future co-operation report that would outline development directions in the various fields of co-operation between the two countries. This task was assigned to two rapporteurs: Anvar Samost on the Estonian side and Andris Razans on the Latvian side, who presented their report to Prime Minister Andrus Ansip and Latvian Prime Minister Valdis Dombrovskis on 11 June 2010.