The match, played before a crowd of 54,045 fans at the Gillette Stadium in Foxborough, was part of both teams' preparation for upcoming 2010 FIFA World Cup South Africa™ qualifiers.
Giancarlo Maldonado, who plays for Atlante of Mexico, opened the scoring in the sixth minute, and Ronald Vargas made it 2-0 for Venezuela in the 44th. Venezuela had never beaten Brazil in 17 previous encounters at senior level.
Brazil face Paraguay in Asuncion on 15 June in their next qualifier for South Africa 2010, before taking on Argentina at the Minerao stadium in Belo Horizonte three days later.
Venezuela will continue their preparations by meeting Dutch Antilles in Curacao, before taking on Uruguay in Montevideo in a crucial qualifier.