National Assembly President Jorge Rodríguez said in a televised address Tuesday that officials remain hopeful more survivors will be found.
"We must hold onto the hope of continuing to find people alive beneath the rubble," Jorge said. "Early this morning, a 2-year-old boy was rescued and is currently receiving care at a health center in Caracas."
Rescue efforts have continued since magnitude 7.2 and 7.5 earthquakes struck Venezuela's northern coast last Wednesday.
The death toll from the twin earthquakes rose to 1,943 on Tuesday, with more than 10,500 people injured, according to Venezuelan officials. On Monday, the death toll stood at 1,719.
Tuesday's rescue marked another glimmer of hope amid the disaster that has devastated the South American country.
On Saturday, the U.S. State Department shared video showing American search-and-rescue teams pulling an infant alive from beneath the rubble in Venezuela.
The infant, who is 9 months old, was rescued along with her mother, the State Department told Fox News Digital. Both suffered only minor injuries, according to the rescue team.
"Against impossible odds, hope endures," the State Department posted on X.
On Tuesday, a shipment from the United Nations Children's Fund (UNICEF) containing 47 metric tons of humanitarian supplies arrived in Venezuela.
The shipment includes emergency health kits for urgent medical care, including supplies for safe births, newborn care, disease prevention and treatment, according to the United Nations.
Urban Search and Rescue (USAR) teams from Virginia, California and Florida were dispatched to Venezuela on Friday to help search collapsed buildings.
According to the State Department, the three USAR teams include 312 personnel and 18 canine teams, made up of firefighters, physicians, structural engineers and canine search specialists, and deployed with more than 200,000 pounds of specialized rescue equipment.
Reuters contributed to this report.