We redescribe Stenocercus erythrogaster based on examination of the holotype, eight additional Colombian specimens, and five Venezuelan specimens. We report S. erythrogaster from two localities in the Serranía de Perijá, Zulia, Venezuela. Although widespread in Amazonia and among the northern Andean countries of South America, Stenocercus has not been reported previously from Venezuela. Earlier reports of Enyalioides sp. from the Serranía de Perijá were based on a misidentified specimen of S. erythrogaster.