After meeting families in at the Santa Catarina Shelter for Venezuelans in the Brazilian city of Manaus, the Christian leader said: "The Bible tells us 'where the spirit of the Lord is, there is freedom'.
"I truly do know and believe, knowing the heart of faith of the people of Venezuela, the heart of faith of millions across this new world that freedom will prevail in Venezuela. It is our shared destiny."
Tens of thousands of Venezuelans have fled the country's economic crisis that saw a number of people killed in clashes during protests against hyperinflation and food shortages.
Mr Pence accused Venezuela's President Nicolás Maduro of running a "devastating dictatorship" and announced on Wednesday that an additional $10 million would go towards supporting Venezuelan families - including more than $1 million to be spent on Venezuelans that have fled to neighbouring Brazil.
The Bible tells us "where the spirit of the Lord is, there is freedom." I truly do know and believe, knowing the heart of faith of the people of Venezuela, the heart of faith of millions across this new world, that freedom will prevail in Venezuela. It is our shared destiny. pic.twitter.com/sJVPh4lvbJ
— Vice President Mike Pence (@VP) June 27, 2018
Responding to Mr Pence's criticism, Mr Maduro called the vice president a "poisonous viper". Mr Maduro has previously accused the United States of wanting to topple his government.
More than 32,000 Venezuelans have sought asylum in Brazil, with thousands more applying for temporary residency there, while others have moved to neighbouring Colombia and Chile.
The EU recently imposed sanctions on eleven Venezuelan officials following elections in May which the EU said were neither free nor fair.
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