The deported Venezuelans, who according to President Nicolás Maduro were nearly 190, traveled on Conviasa airline flights, and their landing and disembarkation were broadcast live on the president's weekly radio and television program.
The deportations occurred days after Trump's special envoy, Richard Grenell, visited Caracas and met with Maduro to discuss the repatriation of Venezuelans who entered the country irregularly.
Grenell returned with six Americans who had been detained in Venezuela.
The meeting in Venezuela's capital took place less than a month after Maduro was sworn in for a third six-year term, despite credible evidence that he lost last year's elections.
The US government, along with several other Western nations, does not recognize Maduro's victory.