The Holy See insisted that Europe has the means to absorb refugees without sacrificing its security or culture.
He was speaking after a number of migrants were attacked by a mob in the German city of Cologne.
The group was attacked after more than 100 reports of sexual assaults and thefts on New Year's Eve, committed by people of North African and Middle Eastern appearance.
In a speech to the Holy See's diplomatic corps, Pope Francis said he was saddened by the distinction made by the international community between refugees fleeing persecution and those fleeing poverty.
He said human history has been marked by great waves of migration, and that humanity today must not let security fears replace the principle of respecting the dignity of others.
He also urged a discussion among the countries of migrants' origin, transit and reception "so that with greater boldness and creativity, new and sustainable solutions can be sought".
