On 9 May 1922 Venezuela recognized Lithuania de jure.
On 2 September 1991 Venezuela recognized the re-established independent State of Lithuania de jure.
Diplomatic relations were established on 10 February 1992.
1992-1999 Vytautas Antanas Dambrava served as the first Ambassador of Lithuania in Venezuela.
From 1993 to 1995 Carlos Daniel Frontado served as the first Ambassador of Venezuela to Lithuania (resided in Finland).