The stamp, measuring 32 by 32 millimetres, features a photograph taken on Mandela’s first visit to Canada in 1990, just four months after his release from prison.
Mandela was a prominent international figure for more than half a century, first as a leading human rights campaigner in South Africa and then as the world's best-known political prisoner.
After spending 27 years in prison, he became the leader of the anti-apartheid struggle, and then the first president of a democratic South Africa.
He died in December 2013 at his home in Johannesburg after a prolonged lung infection. He was 95.
Mandela visited Canada three times and called Canada a home away from home. He received the Order of Canada and became an honorary Canadian citizen.
"Our stamp program seeks to tell the stories of people who have had a powerful effect on our society, and Nelson Mandela's story is among the most powerful,” Deepak Chopra, president and CEO of Canada Post, said in a release.
The stamp comes in booklets of 10 and will be available for purchase on Jan. 30. An official first day cover and souvenir sheet with an international rate stamp are also available.