The decision allows Chevron to revive existing oil projects in the U.S.-sanctioned country and bring new oil supplies to refiners in the United States.
However, it restricts cash payments to Venezuela, which could reduce the amount of oil available to Chevron.
License terms are designed to prevent Venezuelan state-run oil firm PDVSA from receiving proceeds from Chevron's Venezuelan petroleum sales, U.S. officials said.
A Chevron spokesperson said the company was reviewing the license terms and declined immediate comment.
Proceeds due Venezuela from Chevron's oil sales would go into a humanitarian fund rather than to PDVSA.