Venezuela's interim president will soon visit the United States, a senior US official said, further signalling President Donald Trump's willingness to embrace the oil-rich country's new leader.

Delcy Rodriguez would be the first sitting Venezuelan president to visit the United States in more than a quarter century – aside from presidents attending United Nations meetings in New York.

She said on Wednesday that she approached any dialogue with the United States "without fear".

"We are in a process of dialogue, of working with the United States, without any fear, to confront our differences and difficulties... and to address them through diplomacy," said Rodriguez.

The invitation reflects a head-snapping shift in relations between Washington and Caracas since US Delta Force operatives swooped into Caracas, seized president Nicolas Maduro and spirited him to a US jail to face narco-trafficking charges.

Rodriguez was a former vice president and long-time insider in Venezuela's government before becoming interim president.

She is still the subject of US sanctions, including an asset freeze.

Rodriguez on Wednesday began reorganising the leadership of the country's military forces, appointing 12 senior officers to regional commands.

As a flotilla of US warships remains off the Venezuelan coast, she has allowed the United States to broker the sale of Venezuelan oil, facilitated foreign investment and released dozens of political prisoners.

A senior White House official said Rodriguez would visit soon, but no date has been set.

The US trip, which has yet to be confirmed by Venezuelan authorities, could pose problems for Rodriguez inside the government – where some hardliners still detest what they see as Washington's hemispheric imperialism.

Interior Minister Diosdado Cabello and Defence Minister Vladimir Padrino Lopez remain powerful forces in the country, and analysts say their support for Rodriguez is not a given.

Trump has so far appeared happy to allow Rodriguez and much of the government to remain in power, so long as the United States has access to Venezuelan oil – the largest proven reserves in the world.

Trump hosted Venezuela's exiled opposition leader and Nobel peace laureate Maria Corina Machado at the White House earlier this month.

After initially dismissing Machado and her ability to control the country's powerful armed forces and intelligence services, he said on Tuesday that he would "love" to have her "involved in some way."

Machado's party is widely considered to have won 2024 elections that Washington said were stolen by Maduro. (AFP)