Belafonte led a delegation of Americans including actor Danny Glover, Princeton University scholar Cornel West and farmworker advocate Dolores Huerta that met the Venezuelan president for more than six hours late Saturday and attended his television and radio broadcast on Sunday.
"No matter what the greatest tyrant in the world, the greatest terrorist in the world, George W Bush says, we're here to tell you: Not hundreds, not thousands, but millions of the American people… support your revolution," Belafonte told Mr Chavez during the broadcast.
"We respect you, admire you, and we are expressing our full solidarity with the Venezuelan people and your revolution."
The 78-year-old singer, famed for his calypso-inspired music, including the Day-O song, was a close collaborator of the Reverend Martin Luther King Jr and is now a UNICEF goodwill ambassador.
He also has been outspoken in criticising the US embargo of communist Cuba.
Attending the live "Hello President" program under a canopy at a farming cooperative southwest of Caracas, Belafonte said he had come to learn about Mr Chavez's "Bolivarian Revolution," which includes a wide range of social programs for the poor and is named after South American independence hero Simon Bolivar.
Belafonte accused US news media of falsely painting Mr Chavez as a "dictator," when in fact, he said, there is democracy and citizens are "optimistic about their future."
The Americans toured a prison, spoke with people in the street and heard praise as well as criticism, Belafonte said. To be able to criticise, he said, "is the greatest truth of a democracy."
Belafonte suggested setting up a youth exchange for Venezuelans and Americans to learn from each other. He finished by shouting in
Spanish: "Viva la revolucion!"
He and Mr Chavez embraced at the end of the show as Belafonte's song Matilda blared over the speakers.
Mr Chavez accuses President Bush of trying to overthrow him, pointing to intelligence documents released by the US indicating that the CIA knew beforehand that dissident officers planned a short-lived 2002 coup. The US denies involvement.