The two heads of state discussed trade and economic cooperation and various aspects of energy and military-technical cooperation.
A package of bilateral cooperation documents, including inter-governmental cooperation agreements in the sphere of the civilian nuclear power industry, air traffic, mutual visa-free trips and the energy sector, were signed in the presence of Presidents Dmitry Medvedev and Hugo Chavez.
After the talks, Mr Medvedev and Mr Chavez made statements for the press.
Earlier in the day, President Medvedev laid a wreath at the grave of Simon Bolivar.
This is the first visit by a Russian head of state to Venezuela in the entire 150-year-long history of Russian-Venezuelan inter-state relations.