President Nicolas Maduro was barred from attending the summit his aims to put on a presidential elections that a sham is considered by lots of governments and that the opposition is boycotting.
Pence was attending the Summit of the Americas on Friday before being whisked away from the gathering and to his hotel shortly before Trump's address to the nation.
Trump has partially rolled back former President Barack Obama's diplomatic opening with the communist island.
He has said if he's not happy with the terms, then he'll pull the USA out.
Pence in a visit to Colombia last August did meet and pray with struggling Venezuelan migrants in a trip to Cartagena.
"We want one message to be clear: We are with the people of Venezuela", Pence said at the U.S. ambassador's residence, seated with a group of Venezuelan opposition leaders.
Vice President Mike Pence says the USA will provide almost $16 million in humanitarian aid for Venezuelans who have fled their country during the political crisis under President Nicolas Maduro.
Pence met with Pena Nieto on Saturday.
Pence says he will be calling on USA allies to provide additional humanitarian aid during the Summit of the Americas in Lima. The letter blames those policies for declining support for the U.S.in the region at a time China and Russian Federation are making important inroads. He says, "We want one message to be clear: We are with the people of Venezuela". He was meeting with Venezuelan opposition leaders.
U.S. Commerce Secretary Wilbur Ross told the summit that Washington would not "cede leadership" to China in Latin America. Pence took Trump's place at the summit so the president could remain in the U.S.to manage the response to the apparent chemical attack by Syria.
Seated along side Trudeau, Pence mentioned there was still a "real possibility" that the US may reach a deal with Canada and Mexico on NAFTA "within the next several weeks". And with tensions Pence expressed hope along side Canadian Prime Minister Justin Trudeau the 3 nations could agree on a re-negotiated North American Free Trade Agreement.
Saturday's plenary session at the summit saw leaders from throughout the region offer their thoughts on key issues today, as many carried on the event's theme to denounce political corruption, express solidarity with the slain Ecuadorian journalists, and speak on the situation in Venezuela.
In relation to the worrying developments in Syria, Peru's Foreign Ministry released a statement Saturday saying that it condemns the use of chemical weapons and "makes a call for diplomacy between all the concerned actors to avoid any escalation that would put global peace and security at risk".