The resolution was adopted Monday with 66 votes in favor of it, 16 votes against and eight abstentions.
Assembly member Diego Vintimilla denounced the United States' imposition of sanctions against Venezuela, saying that the US legislators should not interfere in the internal affairs of Latin American countries. Vintimilla also accused the United States of double standards in its foreign policy and stressed the importance of respect for international legal obligations.
Earlier in December, US President Barack Obama approved sanctions on Venezuela. The sanctions target individuals who are allegedly responsible for human rights violations during February protests against President Nicolas Maduro's government.
A series of protest against high levels of violence, record inflation and shortages of basic goods took place across Venezuela from February to June. The Venezuelan government deemed the protests to be coup attempts and arrested number of opposition leaders.
Maduro warned that the imposition of sanctions would worsen relations between the countries and described the move as imperialist and disrespectful.