French ambassador Antoine Sivan, Peter Millett of Britain and Spain's Jose Antonio Bordallo held talks with the Government of National Accord (GNA) at the Tripoli naval base where it has set up operations.
It was the first such mission since European Union member states closed their Tripoli embassies in 2014 because of unrest.
Speaking at a joint press conference in Tripoli, Millett said the visit sent "an important message to the Libyan people that we're supporting the unity government".
The French and Spanish envoys also signalled their countries are preparing to reopen their diplomatic missions in the capital.
"We are very close to normality. We are very close to peace, and Libyan people deserve better," said Bordallo.
World powers see the unity government as vital to tackling a raging jihadist insurgency and rampant people smuggling in the North African state.
The French government said the visits were a show of solidarity with GNA chief Fayez al-Sarraj and that Paris "stands alongside the national unity government in Tripoli".
Sarraj arrived in Tripoli by sea with a naval escort two weeks ago and has since won the support of key institutions that control Libya's wealth.
Italy's Foreign Minister Paolo Gentiloni also visited Libya on Tuesday and said that embassies would be reopened in the capital in "the near future".
Libya has been plagued by instability since the 2011 NATO-backed uprising that ousted longtime ruler Moamer Kadhafi, with the Islamic State jihadist group taking advantage of the chaos to seize territory.
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