Firefox Home is a spin off of the bookmark and tab synchronisation technology it currently offers as an add-on to the Firefox desktop browser.
Mozilla will submit the free application to the App Store within the next three weeks.
"However, we have no way of telling if or when it will be approved and available for download," said Ragavan Srinivasan, a product manager at Mozilla, in a blog.
Firefox Home will give users access to their browser bookmarks and history, as well as to the open tabs from the most recent Firefox session.
The iPhone application will also include technology from Firefox's 'Awesome Bar' - the name Mozilla gave to the revamped address bar in Firefox 3.0 - that lets users search for previously-visited pages using keywords or characters in either the URL or the page title.
Mozilla's application offers only one-way sync - from Firefox on the desktop to the iPhone, but not the reverse.
Firefox Home is one way for Mozilla to dodge Apple's ban of rival browsers on its iPhone smartphone and iPad tablet.
"For devices or platforms where we're unable to provide the 'full' Firefox browser (either technically or due to policy), we aim to provide users with 'on the go' instant access to their personal Firefox history, bookmarks and open tabs on their iPhones, giving them another reason to keep loving Firefox on their desktops," said Srinivasan.
Mozilla has been a vocal critic of Apple's ban of rival browsers.
Last year, the company backed a request by the Electronic Frontier Foundation (EFF) for an exemption to the Digital Millennium Copyright Act (DMCA) that would allow iPhone owners to 'jailbreak' their phones without fear of copyright infringement penalties.
At the same time, Mozilla's CEO said his company would not develop a version of Firefox for the iPhone.
Elsewhere on its site, Mozilla said it has no plans to create a Firefox Sync plug-in for Safari on the iPhone that would allow iPhone-to-Firefox synchronisation, giving users round-trip sync.
Because Apple prohibits competing browsers on the iPhone, Firefox Home will be 'read-only', and will rely on the smartphone's native Safari browser to actually render pages.
Like Firefox Home, Opera Mini sidestepped Apple's browser ban, but it did so in a different way.
Rather than connect to websites directly, Opera Mini pulls compressed pages from Opera's own servers, a tactic that the company claims results in page download and rendering speeds six times that of the iPhone's Safari.
Firefox Home will work on the iPhone and iPod Touch, and on Apple's iPad media tablet in iPhone mode.