[3] Both countries belonged to the Spanish Empire, being administered as the Viceroyalty of Peru and the Captaincy General of Venezuela, respectively.

[8] In 2001, both countries froze their relations[9] and withdrew their ambassadors due to the situation in which Vladimiro Montesinos was captured in Caracas after a failed secret extraction operation led by the Peruvian Minister of the Interior, Ketín Vidal [es].

[13][14] On September 13, 2015, the Peruvian Foreign Ministry expressed its "concern about the situation" in Venezuela after the conviction of Leopoldo López, former mayor of Chacao and opponent of the government of Nicolás Maduro.

[16] On August 11, 2016, the Peruvian Congress approved the motion of solidarity in favor of Venezuela due to the political and humanitarian crisis facing the country.

[21] On August 8, 2017, Peru signed, together with other American countries, the Declaration of Lima, that "condemns the rupture of the democratic order in Venezuela.

[35] On September 11, 2019, Peru voted in abstention to call a meeting of the members of the Inter-American Treaty of Reciprocal Assistance (TIAR) to discuss the situation in Venezuela.

[17] In December 2021, the appointment of the diplomat Librado Augusto Orozco Zapata as the new ambassador of Peru in Venezuela was made official.