The two heads of state discussed “developing relations of friendship and prospects of joint cooperation” between the two countries, the Qatar News Agency said.
Maduro said on Twitter that “we work for the construction of a cooperation map for the welfare of the Venezuelan people and for the union and brotherhood among nations”.
The Venezuelan leader arrived in Qatar on Tuesday.
His trip was scheduled to last two days, diplomatic sources said.
Maduro was in Iran at the weekend, and signed a 20-year cooperation agreement with the Islamic republic.
Iran and Venezuela are both members of the OPEC alliance of oil producers and both are subject to US sanctions.
Qatar is a major US ally. But in 2014, Maduro said that Qatari banks were helping with substantial loans as his South American nation, which depends on oil for revenues, went into economic free fall.
Maduro was in Kuwait on Monday and had earlier been in Algeria and Turkey.
