"Lavrov has warned against all interference in Venezuela's domestic affairs including the use of force threatened by Washington and which is in violation of international law," the Russian foreign ministry said in a statement Tuesday.
"He is ready for talks regarding the Venezuelan issue in line with UN principles," it added.
The remarks came after US President Donald Trump reaffirmed earlier this month that military intervention in Venezuela was "an option", as international pressure ramped up on embattled head of state Nicolas Maduro to step down.
The European Union and a group of European and Latin American ministers have called for a fresh presidential election, but Maduro has rejected the suggestion.
The US has presented a draft resolution to the UN Security Council calling for international aid deliveries and new presidential elections. Venezuelans have faced shortages of basic necessities such as food and medicines as the economy went into meltdown under Maduro's leadership.
Some 2.3 million Venezuelans have fled since 2015, as hyperinflation rendered salaries and savings worthless.
But the president denies there is a humanitarian crisis and has branded the whole affair a "political show" and a pretext for a US-led invasion.
The Venezuelan military meanwhile announced it had started conducting exercises, set to run until Friday, to "reinforce the country's defensive capacity.
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