The West Africans secured their place in the semi-finals after a tense encounter against Dayana Frías’ side in Rabat on Sunday night.
Azeezat Oduntan emerged as Nigeria’s match-winner, converting a late penalty to seal the victory and send the Flamingos into the last four for only the second time in the history of the competition.
Despite dominating portions of the encounter, Nigeria faced a determined Venezuelan side that pushed them throughout the contest.
The Flamingos also came close on two occasions but were denied by the woodwork.
Busari expressed satisfaction with his players’ efforts in the game.
“We gave everything on the pitch tonight. We wanted to keep the ball and play our game, but we made some mistakes,” Busari told FIFA.
Nigeria will battle Brazil for a place in the final in Rabat on Wednesday night.