A US envoy met Venezuela's second-most powerful official in Haiti in another sign of rapprochement between the two countries, according to Venezuelan state media.

Thomas Shannon, counselor to Secretary of State John Kerry, has emerged in recent months as a go-between for Caracas and Washington, visiting Venezuela a couple of times for low-profile meetings with President Nicolas Maduro.

In the worst flare-up since Maduro came to power, Venezuela accused Washington earlier this year of plotting a coup, ordered it to reduce its embassy staff and imposed a visa requirement on US visitors.