Opposition members have accused socialist President Nicolas Maduro of establishing a dictatorship, and they blame him for high inflation and widespread food shortages.
Protestors took to the streets on 1st April to demand fresh elections. Protestors have clashed with police in several cities including the capital Caracas.
Speaking in St Peter's Square, the pope made a message to "the government and all the components of the Venezuelan society so that every further form of violence is avoided, human rights are respected and negotiated solutions are sought".
Francis spoke on Sunday after he expressed on Saturday his frustration that Vatican-sponsored talks had not succeeded, blaming division among the opposition.
The negotiations were scrapped by opposition leaders in December who said the government had not met demands including the release of political prisoners and rescheduling cancelled elections.
Denying claims of division within its ranks, the Democratic Unity alliance also said in an open letter to Francis on Sunday: "The only dialogue acceptable in Venezuela today is the dialogue of voting, which is the only way to overcome the crisis and re-establish Venezuela's kidnapped democracy."