Venezuelan protesters blocked U.S. Ambassador William Brownfield's car at a sports center and pelted it with eggs and fruit, the U.S. embassy told media on Friday.
It was the third incident of this kind in three weeks, according to the embassy.
Brownfield told Venezuelan television that he deplored violence and regretted he was not able to negotiate with the protestors, although he said he accepted "the right in any part of Venezuela to protest and demonstrate."
The attack began when Brownfield arrived at the sports center in Coche, a working-class neighborhood in Caracas, intending to hand over donated sports equipment.
Reportedly, a representative of the Mayor's office told Brownfield he would not be able to make the presentation.
The Caracas mayor's office has denied its officials' involvement in Friday's incident.
Venezuelan television showed protestors yelling "gringo, get out!" and describing Brownfield as "scum" and a "coup-backer".
In response, the U.S. State Department said that Venezuela failed to fulfil its duties prescribed by the Geneva Convention, which requires host countries to ensure the safety of foreign diplomats, and that such harassment would have "serious diplomatic consequences."
The incident came as Venezuelan President Hugo Chavez began a campaign accusing the United States of plotting an invasion of his country.
Venezuela, the world's fifth largest oil exporter and a key oil supplier to the United States, has had a stormy relationship with the U.S. administration.
Chavez has said on various occasions that the United States was behind a failed coup attempt aimed at ousting him from power in April 2002, an accusation denied by Washington.
Source: Xinhua