"These actions will not go unpunished," said a government statement published by Vice President Delcy Rodriguez on social media.
US forces boarded a merchant ship off the coast of Venezuela on Saturday, the second time in two weeks that a merchant ship was stopped by the US military.
Venezuela's leaders have previously accused the United States of illegal operations and of being out to "steal oil from Venezuela."
The US has also previously attacked – and sunk – a large number of smaller vessels suspected of smuggling drugs. At least 104 people have been killed in the 28 raids confirmed by Washington, DC.
