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Venezuela's navy escorted a US-chartered oil exploration ship into port on Margarita Island on Sunday night.
The vessel was seized while operating in Caribbean waters disputed with neighbouring Guyana.
Venezuelan authorities said the 36 crew would be held on board while an investigation took place.
Admiral Angel Belisario Martinez said that the research ship had been conducting "unauthorised scientific work" in Venezuela's exclusive economic zone.
Venezuela's Foreign Ministry said the ship and its crew would be subject to an "inquiry under international maritime law pursuant to the safeguarding of our sovereignty in maritime areas."
The 285-foot survey ship Teknik Perdana, sailing under a Panamanian flag, was detained while conducting a seismic study for Anadarko Petroleum Corporation under licence from Guyana.
