"We don't need another $200bn war to get rid of one, you know, strong-arm dictator," he said.
"It's a whole lot easier to have some of the covert operatives do the job and then get it over with."
The comments were subsequently reported by the Associated Press and other media outlets, but on the Wednesday edition of The 700 Club Mr Robertson said the remarks were misconstrued.
"I didn't say 'assassination', I said our special forces could take him out. Take him out could be a number of things including kidnapping," he said.
"There are a number of ways of taking out a dictator from power besides killing him. I was misinterpreted," he added.
The US State Department said the comments were "inappropriate" and did not reflect the policy of the US.
"Any allegations that we are planning to take hostile action against the Venezuelan government are completely baseless," State department spokesman San McCormack said.
"We have been very clear that this is not the policy of the United States."
Venezuela is the fifth-largest oil exporter and a major supplier of oil to the United States.
He wasn't suggesting to assassinate a foriegn leader. Just to kidnap him.
