The meeting - part of the "tripartite forum" between the three countries - deliberately avoided the issue of sovereignty, focusing instead on issues of concern to the 30,000 Gibraltarians.
The talks went ahead despite a new row over Gibraltar's territorial waters.
The Gibraltarian government opposed a reported move by Spain to use a European Commission environmental directive to officially denote the surrounding seas as Spanish.
The Self-determination for Gibraltar group has called on Gibraltarians to fly union jacks during the Spanish minister's visit.
Spain ceded Gibraltar to Britain in 1713 but has long said it should return to Spanish sovereignty.
The border between Spain and Gibraltar was closed by Spanish dictator General Franco in 1969 and did not fully reopen until 1985.
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