Visitors to Mauritania must obtain a visa from one of the Mauritanian diplomatic missions unless they come from one of the visa exempt countries or if they arrive at Nouakchott–Oumtounsy International Airport.
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Visa exemption
Citizens of the following 9 countries can visit Mauritania without a visa for up to 90 days:
Holders of diplomatic and service passports issued to nationals of Bulgaria, Egypt, Guinea-Bissau, Iran, Morocco, Qatar and Turkey do not require a visa for Mauritania.
Nationals of any country with a diplomatic passport except Italy do not require a visa.
Visa on arrival
Holders of passports issued by any country can obtain a visa on arrival at Nouakchott International Airport.
References
Visa policy of Mauritania Wikipedia(Text) CC BY-SA