The OPEC nation suffered its worst blackout in history last week following technical problems that the government of President Nicolas Maduro called an act of USA -backed sabotage but critics dismissed as the result of incompetence. "We look forward to resuming our presence once the transition to democracy begins", Pompeo said in a statement.
The U.S. flag outside the embassy had been taken down.
Pompeo said the diplomatic staff would continue from outside Venezuela to work for its future, help manage the flow of humanitarian assistance and support those "bravely resisting tyranny".
While much of Latin America and Europe have thrown their weight behind Guaido with a view to forcing presidential elections in Venezuela, Maduro has the support of Russian Federation and China, major creditors and buyers of Venezuelan oil.
The country began returning to normal on Thursday following a near-total weeklong blackout that the government has blamed on what it calls sabotage encouraged by the US.
Venezuela is gripped by an acute economic crisis that has fueled the rise of opposition leader Juan Guaido, the national assembly speaker who in late January declared himself to be the interim leader.
He said "anarchy" reigned in Venezuela's second city of Maracaibo during the power outage, with "generalised looting".
"The objective of these sanctions is to continue to deprive the illegitimate Maduro regime of access to funds and deny their ability to continue stealing from the Venezuelan people", the official said.
He gave no details
Pompeo tweeted earlier in the week that the USA diplomats were being withdrawn because their continued presence in Caracas had become a "constraint" on US policy.
The Venezuelan government disputed Pompeo's account, saying it had instructed the USA diplomats to leave.
The United States is considering imposing financial sanctions that could prohibit Visa Inc, Mastercard Inc and other financial institutions from processing transactions in Venezuela, a senior Trump administration official said on Thursday.
Maduro accuses Guaido and the United States of plotting an invasion.
The situation has worsened with successive rounds of United States sanctions against Maduro's government, including steps that have severely curbed its oil exports.
Maduro's government in January cut ties with the USA over its recognition of Guaido as Venezuela's rightful leader, a stand taken by about 50 other countries that contend Maduro's re-election previous year was rigged and that he has no legitimacy.
The Venezuelan National Assembly, dominated by the opposition, has declared a state of alarm over the blackout that the Maduro government blamed on a USA cyber-attack and that plunged the struggling country into darkness and chaos for five days.