The 6.4 magnitude jolt occurred at 3:40 p.m. local time 23 miles north-northeast of Puerto Cabello, one of the OPEC nation's main oil terminals.
There were no reports of damage to any of Venezuela’s oil facilities, but shaking was felt across the nation.
The western state of Falcon reported the most damage, with 17 houses and two other structures sustaining damage. Two other houses were damaged in the neighboring state of Lara.
In the capital of Caracas, people rushed out of apartments and offices as the quake struck and parts of the city were flooded with waist-deep water from heavy rainfall.
Power was briefly disrupted after the quake, and cellular telephone networks became jammed with people calling about it.
The people injured in the earthquake, among them a boy and a young woman who sustained serious leg injuries, were treated at hospitals and are in good condition, Interior Minister Tarek El Aissami told reporters.