Sustainable rural development is a complex phenomenon and a function of various factors (ecological, economic, social, etc.) inside and outside the rural community, and its ultimate goal is the sustainability and development of the rural system. Agricultural extension as a comprehensive and sustainable approach is the most important factor in creating change in rural communities that can play an important and effective role in the sustainable development process. This is achieved when the content of agricultural extension programs is formulated in accordance with the dimensions of rural development. In order to accept these programs in rural communities, the programs must be designed based on prioritizing the real needs of the community in line with the dimensions of sustainable development so that the extension can have a positive performance in close contact with the people of the rural community. Therefore, paying attention to agricultural extension and investing in it can overcome many obstacles and problems of farmers as development custodians to move towards sustainable rural development. Paying attention to the challenges and taking steps to address them is the way to achieve sustainable rural development, because reforms in this field not only help improve the agricultural situation and increase productivity, but can also lead to resource conservation, social and economic development, and improved quality of life in rural communities. This study, which was prepared in a review method, while explaining the concept and nature of sustainable rural development, its goals, and related principles, has examined the mission of agricultural extension in sustainable rural development and some of the challenges of agricultural extension to achieve sustainable rural development.