Secretary of State Marco Rubio said five Venezuelan politicians were plagued by the Argentina embassy in Caracas to avoid arrests.
Rubio wrote in an article on X: "The United States welcomes all hostages taken by the Maduro regime in the Argentine embassy.
Since last year, Venezuelan forces have been taking refuge around the embassy, with five politicians opposing President Nicolás Maduro.
Venezuela's opposition leader Maria Corina Machado said she was "thank you to everyone who made it possible".
Machado calls their escape "the freedom of the five heroes is impeccable, epic action."
Argentina President Javier Milei's government allowed them to stay there, one of several countries in the outcome of the last election held in July, which gave Maduro a third term.
The Argentine Foreign Ministry thanked Rubio and the U.S. government for “ensure the freedom of Venezuelan asylum seekers in our embassy Caracas for successful actions.”
Last year, opposition figures released images and videos of officials from the country's intelligence agencies surrounding the embassy complex, saying they were under "siege."
They also accused the Venezuelan government of cutting electricity and water services to the compound.
The Venezuelan government said at the time that it was said to reveal evidence of "terrorist activities and assassination attempts" against Maduro and his deputy, and was therefore forced to take action.
In November, the United States called security operations outside the embassy a serious violation of international law.
"We ask the Venezuelan regime to respect its international obligations, to cease these daunting actions and to ensure the safe passage of asylum seekers," the U.S. Embassy in Venezuela said.
Rubio did not confirm the name of the rescued person, but the five opposition members who were asylum at the Argentine embassy were Magalli Meda, Pedro Urruchurtu, Omar Gonzalez, Humberto Villalobos and Claudia Macero.
It is unclear how the five managed to leave the compound and the role America plays in escape.
Since the diplomatic relations between Argentina and Venezuela fell due to the outcome of the Venezuelan presidential election, the embassy they sheltered has been represented and guarded by Brazil.
But in September, the Venezuelan government revoked Brazil's custody of the embassy, which apparently attempted to remove diplomatic protections.