"The incidence of alleged extrajudicial killings by security forces, particularly the special forces (FAES), in the context of security operations has been shockingly high", Ms. Bachelet's office said.
Last year, the government registered 5,287 killings for "resistance to authority", while since January this year another 1,569 similar killings were registered, according to the report.
Families of 20 men described how masked men dressed in black would arrive in black pickup trucks without license plates. However, the opposition and most of the countries of Latin America did not recognize Maduro's victory, since they did not consider the elections free and fair.
Venezuela is experiencing a protracted economic crisis resulting from the policies of Nicolas Maduro. They then broke into their houses, assaulted the women and girls and stole belongings.
The UN rights chief, who herself visited Venezuela last month, warned in her report that "there are reasonable grounds to believe that many of these killings constitute extrajudicial executions committed by the security forces". The U.N. says that more than four million people have left the country in recent years, putting strains in particular on neighbours Brazil and Colombia, as well as Peru.
Venezuelan officials insisted the report overlooked visits by United Nations observers in March to jails, hospitals, public-housing programs and distribution centres for medicine and food, and said it "omits in its entirety the achievements and advances achieved" by the country in the field of human rights.
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We also welcome the announcement that the Office of the High Commissioner will now have a presence in Venezuela to provide technical assistance and monitor the human rights situation. "Nicolás Maduro's government can not hide the massive and systematic human rights violations that have been committed under his command, seriously affecting most people in the country and forcing millions to flee in search of protection".
Mr Maduro, whose main backers also include Russian Federation and China, has accused the United States of leading an imperialist economic war against oil-rich Venezuela.
A national guard hydrant truck sprays opponents to Venezuela's President Nicolas Maduro during protests in Caracas, Venezuela.
Castillo also said, "In Venezuela, there is no humanitarian crisis".
Twenty-two people released by Venezuela's government on Thursday include the emblematic cases of judge Maria Afiuni and journalist Braulio Jatar, the U.N. High Commissioner for Human Rights Michelle Bachelet said on Friday.
Since 2016, the report says, the government has pursued a strategy "aimed at neutralizing, repressing and criminalizing political opponents and people critical of the government".
Bachelet then called upon "all those with the power and influence - within Venezuela and elsewhere - to work together, and to make the necessary compromises to resolve this all-consuming crisis". "Essential institutions and the rule of law in Venezuela have been eroded", she said.