Abstract Atomic oxygen is a key species in the mesosphere and thermosphere of Venus. It peaks in the transition region between the two dominant atmospheric circulation patterns, the retrograde super-rotating zonal flow below 70 km and the subsolar to antisolar flow above 120 km altitude. However, past and current detection methods are indirect and based on measurements of other molecules in combination with photochemical models. Here, we show direct detection of atomic oxygen on the dayside as well as on the nightside of Venus by measuring its ground-state transition at 4.74 THz (63.2 µm). The atomic oxygen is concentrated at altitudes around 100 km with a maximum column density on the dayside where it is generated by photolysis of carbon dioxide and carbon monoxide. This method enables detailed investigations of the Venusian atmosphere in the region between the two atmospheric circulation patterns in support of future space missions to Venus.