In this paper, the iteration formula of the Maslov-type index theory for linear Hamiltonian systems with continuous, periodic, and symmetric coefficients is established. This formula yields a new method to determine the minimality of the period for solutions of nonlinear autonomous Hamiltonian systems via their Maslov-type indices. Applications of this formula give new results on the existence of periodic solutions with prescribed minimal period for such systems, and unify known results under various convexity conditions.