The boat, with nine fishermen on board, was detained on Friday "illegally and threateningly" by the American ship USS Jason Dunham, claims the Venezuelan foreign ministry.
The USA has not commented on the allegations.
Tensions between the two countries have increased since President Donald Trump sent ships to the waters off Venezuela in an operation Washington claims is aimed at drug trafficking.
Last week, the USA sank a ship that had set sail from Venezuela. Eleven people were killed in the attack, which Venezuela has described as "extrajudicial murders".
Trump has also sent ten fighter jets to the self-governing American territory Puerto Rico.
