Special envoy Elliott Abrams met Russian Deputy Foreign Minister Sergei Ryabkov on Tuesday in Rome.
Abrams told reporters "we did not come to a meeting of the minds" but emerged with a better understanding of each other's views.
He said it's "perfectly plausible" that the two sides meet again but no date was set.
Russia backs Venezuelan President Nicolas Maduro and has accused Washington of meddling in the country's affairs by pressing him to step down and hand over power to opposition leader Juan Guaido.
Speaking to Russian media, Ryabkov emphasized the need for dialogue with the U.S. but warned Washington against military intervention.