0419 GMT July 18, 2018
Venezuela is in the throes of a deepening crisis caused by falling oil prices, spiraling inflation and corruption that has ravaged the oil-rich country's economy, AFP reported.
"Although we have very important advances, we are still left with pending issues," President Danilo Medina said.
The two sides will hold further talks in Santo Domingo on January 18, said Medina, one of those working to encourage the dialogue.
After 10 hours of meetings aimed at finding solutions to the protracted political and economic crises, Jorge Rodriguez, the main Venezuelan government delegate, said there was consensus on the "majority of the points."
"We remain at the negotiating table... we have some points that I am sure will be resolved" in the talks on January 18, Rodriguez said.
Julio Borges, the main delegate for the opposition Democratic Unity Roundtable (MUD), also highlighted agreement.
But the MUD's main requirement in the negotiations is that this year's presidential election be "free and fair".
Venezuela's Constituent Assembly has ordered the three main opposition parties to re-register with the National Electoral Council (CNE) in order to take part in the presidential election.
The parties boycotted mayoral elections in December, saying they lacked transparency.