He is affiliated with the Madrid committee and has officiated in Spanish Primera División since 2004, as well as in international matches since 2008.

[2][3] Velasco officiated 2011 UEFA Europa League Final match in Dublin, between Porto and Braga.

[5] Velasco took charge of the tournament's opening match between Poland and Greece, issuing a first-half red card to Greek defender Sokratis Papastathopoulos, before sending-off Poland goalkeeper Wojciech Szczęsny in the second period as the teams drew 1–1 in Warsaw.

[8] A Colombian lawyer also claimed to be suing FIFA for $1.3 billion because of their bad referee choices.

[9][10] Since 2017, Velasco is responsible for video assistant referee system integration into Spanish La Liga starting from season 2018/2019.