Gabriel Magalhães netted his first goal for Brazil in just his third international appearance against Venezuela.
Heading home from Neymar’s corner, Gabriel opened the scoring but Brazil suffered a late equaliser to draw 1-1.
Gabriel Jesus came on in the 59th minute of the game, replacing Richarlison.
Brazil are second in the World Cup CONMEBOL qualifiers, two points behind Argentina, who have maximum points.
Elsewhere, Norway put four past Cyprus without reply to remain third in Group A of the UEFA Euro 2024 qualifiers, two points behind Spain and five shy of Scotland. Martin Odegaard played 78 minutes of the victory.