Venezuela made its Paralympic Games début at the 1984 Summer Paralympics in Stoke Mandeville and New York, sending five competitors in athletics and one in swimming.

Absent from the Games in 1988, it returned in 1992, and has participated in every edition of the Summer Paralympics since then.

Having won no medals in 1984 or 1996, a single bronze in 1992 (Yolmer Urdaneta's in the men's discus) and a single bronze also in 2000 (Ricardo Santana's in the men's 200m T13 in athletics), it achieved its first silver (Santana in the 100m) and two bronze in 2004.

The country's first Paralympic gold medal was won in 2008 by Naomi Soazo in the women's up to 63kg in judo.

2020 marked Venezuela's highest achievement to date, with three gold, two silver, and two bronze.