He prayed that the leaders of South Sudan, Nigeria, and Cameroon would "pursue the path of fraternity and dialogue they have undertaken."
Pope Francis, who celebrated his 84th birthday last week, was obliged to adapt his Christmas schedule this year because of rising coronavirus cases in Italy.
Fewer than 100 people were present in St. Peter's Basilica on Thursday night when he celebrated Midnight Mass. The liturgy began at 7:30 p.m. local time due to a 10 p.m. curfew throughout Italy to curb the spread of the virus.
In his "Urbi et Orbi" address, the pope highlighted the suffering caused by the virus in the Americas.
"May the Eternal Word of the Father be a source of hope for the American continent, particularly affected by the coronavirus, which has intensified its many sufferings, frequently aggravated by the effects of corruption and drug trafficking," he said.
"May he help to ease the recent social tensions in Chile and end the sufferings of the people of Venezuela."
The pope acknowledged the victims of natural disasters in the Philippines and Vietnam.
He then singled out the Rohingya ethnic group, hundreds of thousands of whom were forced to flee Myanmar's Rakhine State in 2017.
"As I think of Asia, I cannot forget the Rohingya people: may Jesus, who was born poor among the poor, bring them hope amid their sufferings," he said.
The pope concluded: "On this festive day, I think in a special way of all those who refuse to let themselves be overcome by adversity, but instead work to bring hope, comfort and help to those who suffer and those who are alone."
"Jesus was born in a stable, but was embraced by the love of the Virgin Mary and St. Joseph. By his birth in the flesh, the Son of God consecrated familial love. My thoughts at this moment turn to families: to those who cannot come together today and to those forced to remain at home."
"May Christmas be an opportunity for all of us to rediscover the family as a cradle of life and faith, a place of acceptance and love, dialogue, forgiveness, fraternal solidarity and shared joy, a source of peace for all humanity."
After delivering his message, the pope recited the Angelus. Putting on a red stole, he then gave his blessing, which carried with it the possibility of a plenary indulgence.
Plenary indulgences remit all temporal punishment due to sin. They must be accompanied by full detachment from sin, as well as sacramental confession, the reception of Holy Communion, and prayer for the pope's intentions once it is possible to do so.
Finally, Pope Francis offered Christmas greetings to those present in the hall and watching worldwide via the internet, television, and radio.
"Dear brothers and sisters," he said. "I renew my wishes for a happy Christmas to all of you who are connected from every part of the world through radio, television and other means of communication. I thank you for your spiritual presence on this day marked by joy."
"In these days, in which the atmosphere of Christmas invites people to become better and more fraternal, let us not forget to pray for the families and communities that live amid so much suffering. Please also continue to pray for me."