The bomber flight -- which President Donald Trump later falsely claimed did not occur -- comes as Washington carries out a military campaign against alleged drug traffickers in the region, deploying forces that have sparked fears in Caracas that regime change is the ultimate goal.

Data from tracking website Flightradar24 showed a B-1B flying toward the Venezuelan coast on Thursday afternoon before making a U-turn and heading north, after which it disappeared from view.

Asked during a White House event about reporting that the United States had sent B-1Bs near Venezuela, Trump responded that "it's false," while adding the United States is "not happy with Venezuela for a lot of reasons."

The latest flight came about a week after US-based B-52 bombers circled off Venezuela's coast for several hours.

The US military described that mission as a demonstration of Washington's commitment "to proactively deter adversary threats, enhance crew training, and ensure the global force readiness necessary to respond to any contingency or challenge."

The United States has deployed stealth warplanes and Navy ships as part of what it calls counter-narcotics efforts, but has yet to release evidence that its targets -- eight boats and a semi-submersible -- were smuggling drugs.

The US strikes, which began on September 2, have killed at least 37 people, according to an AFP tally based on US figures.

Regional tensions have flared as a result of the campaign, with Venezuela accusing the United States of plotting to overthrow President Nicolas Maduro, who said Wednesday that his country has 5,000 Russian man-portable surface-to-air missiles to counter US forces.