Negotiations between government and opposition groups in Venezuela, followed by free and fair elections, are needed to put an end to violence and bring relief to the suffering people, a Vatican official has said.

In a letter to six former Latin American heads of state, Cardinal Pietro Parolin, Vatican Secretary of State, said the Holy See continued to follow Pope Francis's directives and was "trying to help find a solution to the current serious difficulties."

"The Holy See continues to consider that a serious and sincere negotiation between the parties, based on very clear conditions, beginning with the celebration of constitutionally scheduled elections, can solve the serious situation in Venezuela and the suffering to which the population is subjected," said Cardinal Parolin's letter.