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The denial came after Venezuelan President Hugo Chávez accused Colombia of launching US-made spy drones over Venezuelan territory, in the latest sign of worsening tensions between the two South American neighbors.
On Sunday, Mr. Chavez gave details in his radio address about the alleged spy plane flight, and ordered any such planes to be shot down in the future, according to the Venezuela daily El Universal.
Also on Sunday, Colombia's defense minister said his country was preparing defenses against a military attack, according to the Colombia Reports website.
Colombia last week activated seven new army battalions, including two along its border with Venezuela, according to the website.
The two countries insist US troops are in Colombia only for the purpose of helping anti-drug efforts. But Venezuela sees a growing threat.
Last month, Chávez ordered his military onto a war footing.
The two countries nearly went to war in 1987 over a disputed sea border, and almost came to blows again in 2008 after Colombia raided a FARC (Revolutionary Armed Forces of Colombia) rebel camp in Ecuador. In August, Colombia accused Venezuela of supplying FARC rebels with shoulder-fired anti-tank weapons.