The move comes less than a week after US forces captured former President Nicolas Maduro, who faces drug-trafficking charges.
Acting President Delcy Rodriguez's government freed several prominent detainees, including Enrique Marquez, who opposed Maduro in the contested 2024 presidential election, and opposition leader Biagio Pilieri, who was part of Nobel Peace Prize winner Maria Corina Machado's 2024 presidential campaign.
US President Donald Trump said the releases came at Washington's request, praising Venezuela's transitional leadership for its cooperation.
The exact number of freed prisoners remains unclear.
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Meanwhile, in an interview with Fox News, Trump said he planned to meet Machado in Washington next week.
"I understand she's coming in next week sometime and I look forward to saying hello to her," Trump said in an interview that aired Thursday night.
In a news conference after the US military seized Maduro and his wife and took them to New York over the weekend, Trump said Machado "doesn't have the support within or the respect within the country" to lead.
Despite the snub from Trump, she praised his actions in Venezuela.
"What he has done, as I said is historic, and it's a huge step toward a democratic transition," she said.
Machado was awarded last year's Nobel Peace Prize, an honor Trump had been hoping to receive.
Trump will meet top US oil executives on Friday to seek their backing for his Venezuela plans, which he says will secure control of its energy resources for years.
"They're going to rebuild the whole oil infrastructure. They're going to spend at least $100 billion. The oil they have is unbelievable in quality and amount," he said.
The heads of Exxon Mobil, Chevron, and ConocoPhillips are expected at the White House, according to reports.
On Wednesday, US Energy Secretary Chris Wright said Washington will control the country's oil industry "indefinitely."
Rodriguez has said her interim government remains in charge, with the state-run oil firm saying only that it was in negotiations with the United States on oil sales.
The US Senate voted Thursday to advance a resolution restricting Trump from further military action in Venezuela without Congressional approval.
Five Republican senators voted with the Democrats to get the resolution passed.
"Republicans should be ashamed of the Senators that just voted with Democrats in attempting to take away our Powers to fight and defend the United States of America," Trump said in a social media post.
The measure still needs to be passed by the House of Representatives, and if it does, Trump is likely to veto it.
Curated by Marcus Thompson
