Azeezat Oduntan emerged as the hero, calmly converting a late penalty to seal the win for the Nigerian side.
The Flamingos dominated proceedings for much of the encounter but struggled to break down a resolute Venezuelan defence.
Despite creating several opportunities, Akeem Busari’s side were wasteful in front of goal, while Venezuela offered little attacking threat.
Oduntan stepped up and confidently dispatched the spot kick to send the Flamingos into the last four.
Busari’s side will now turn their attention to a semi-final showdown against Brazil on Wednesday as they continue their quest for the title.
