Deadly clashes broke out in Venezuelan border towns on Saturday, as President Nicolás Maduro blocked humanitarian aid from crossing from Colombia and Brazil.
Troops fired tear gas and rubber bullets at protesters who attempted to collect and transport the supplies.
A number of people were also shot by live ammunition, human rights groups say. At least two people were killed.
The opposition wants the aid to go to people hit by the economic crisis, but Mr Maduro sees it as a security threat.
US Secretary of State Mike Pompeo has condemned the attacks on civilians, which he blamed on "Maduro's thugs".
"Our deepest sympathies to the families of those who have died due to these criminal acts. We join their demand for justice," he said in a tweet following the clashes.
Mr Pompeo also described the burning of some of the aid as "sickening".
Opposition leader Juan Guaidó, who has declared himself interim president and helped organise the aid, has condemned the action by security forces.
Mr Guaidó, who has been recognised as leader by dozens of nations, will meet US Vice President Mike Pence on Monday in Bogota, Colombia.
He is travelling there to meet leaders of the regional Lima Group, in spite of a travel ban imposed on him by Mr Maduro's government.
On Saturday evening, Mr Guaidó posted a tweet (in Spanish) which implored the international community to be "open to all options" in order to "liberate" Venezuela from Mr Maduro – who is continuing to resist all calls to stand down.
What happened with the clashes over aid?
Mr Guaidó organised the collection of hundreds of tonnes of foreign aid at the country's borders.
He had given the government a deadline of Saturday to allow the aid to be brought into Venezuela. Otherwise he vowed that volunteers would march it in themselves.
In response, President Maduro partly closed the country's borders with Brazil and Colombia, citing threats to security and sovereignty.
On Saturday many Venezuelans attempted to cross in order to get to the deliveries, which included food and medicine.
Images from crossing points across the country showed security forces firing tear gas at volunteers. Protesters also burned outposts and threw projectiles at soldiers and riot police.
Rights groups say two people, including a 14-year-old boy, were shot dead in Saturday's clashes in Santa Elena de Uairen, near the country's border with Brazil. Another two were killed close by on Friday.
Amnesty International has described the use of firearms against protesters as a serious human rights violation, and a crime under international law.
There have also been reports of several aid trucks being burned – something Mr Guaidó says violates the Geneva Conventions.
At about 19:00 local time (23:00 GMT) Colombia's government estimated the number injured at border crossings to be about 300.
Journalists at the scene have reported severe injuries among protesters, including several who appeared to have lost eyes.