Former prime minister Boris Johnson flew to Venezuela in February to meet President Nicolas Maduro.
The Sunday Times first reported Mr Johnson travelled to Venezuela for the meeting by private jet while on holiday in the Caribbean.
A spokesman for Mr Johnson told the BBC that the visit’s purpose was to “emphasise the need for Venezuela to embrace a proper democratic process.”
Mr Maduro was re-elected in 2018 after judges banned his primary opponents from competing, plunging the country into a severe political and economic crisis.
Most opposition parties refused to recognise the election results and challenged Mr Maduro’s rule by creating an interim government, a push for change that fizzled out over the past few years.
There has since been strong international pressure for Venezuela to hold a free and fair election.
Venezuela also approved a referendum last year to claim sovereignty over an oil- and mineral-rich area of neighbouring Guyana, which Guyana disputes.
British minister for the Americas and Caribbean, David Rutley, met with Guyanese President Irfaan Ali in December to stress the UK Government’s backing for Guyana.
Mr Johnson’s spokesman told the BBC that he “repeatedly made clear there can be no hope of normalisation in relations until Venezuela fully embraces democracy and respects the territorial integrity of its neighbours”.
“He also set out the case for the cause of Ukrainian victory to the government of Venezuela.”
The spokesman also told the broadcaster the trip came at “no cost to the UK taxpayer nor the Venezuelan government”.