The man, Jesus Majano, is an employee of the state electricity corporation and was arrested earlier this week for a message he posted on Twitter.
The man's lawyer, Luis Rodriguez, told the Venezuelan television channel Globovision that his client was freed Friday after appearing in court, where prosecutors accused him of "instigating public hatred."
The lawyer says Majano is required to appear in court every 15 days as his case proceeds. He has yet to be formally charged.
Chavez has often alleged his adversaries want to assassinate him. Prosecutors didn't immediately comment on the case.