Venezuela released 22 prisoners on Thursday, including high-profile judge Maria Afiuni and journalist Braulio Jatar.
The move came on the same day the UN published a report by its human rights chief, detailing alleged rights abuses in the country.
Following the report, Venezuela said that it was biased.
The 16-page document highlighted the arbitrary arrest, ill-treatment and torture of government critics. It also accused the state of removing numerous opponents by extrajudicial killings.
The UN believes the prisoner releases may mark a new beginning for the Maduro government on human rights issues.