There will be two weekly flights on each sector, with fares costing RM179 (US$40.50).
They had been suspended in April 2020 following the Covid outbreak.
Riad Asmat, CEO of AirAsia Malaysia, said on the airline's website that travel demand to Vietnam has picked up following the lifting of Covid restrictions, and the resumption of commercial flights is expected to support economic recovery in the two countries.
Vietnam has lifted most Covid restrictions except travel insurance for foreign tourists and targets five million arrivals this year, around 30 percent of the number in 2019 before the pandemic.