The four countries won the required two-thirds of votes during the election at the UN General Assembly.
The 193-nation assembly was voting to fill five non-permanent seats at the Security Council, the UN's top body with authority to decide on sanctions and the use of force.
Angola won 190 votes, Malaysia garnered 187 and Venezuela 181. All three countries ran unopposed as their candidacies had been put forward by their region.
The five new members will begin their two-year term at the council in January.
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