The Solar Orbiter spacecraft, jointly operated with the European Space Agency, passed within 4,967 miles of the planet's surface on August 9.
Conjunctions are a pretty sight for sky watchers, with the last one between the two planets taking place around two years ago.
Venus is Earth's closest neighbour, but the surface conditions on the second planet from the sun are hellish.
For the first time in over 30 years, NASA will be sending missions DAVINCI+ and VERITAS to Venus, an expedition expected to launch in the late 2020s.
Researchers who have observed the planet using the James Clerk Maxwell Telescope (JCMT) in Hawaii, believe there is evidence to suggest alien life may exist on Venus.
If you want to see the spectacle, you will need to head outside around an hour before sunrise on Sunday.
"These selected missions have the potential to transform our understanding of some of the solar system's most active and complex worlds," NASA's Thomas Zurbuchen said.
The next transit of Mercury will not be until 2032.
Venus's surface is an inhospitable wasteland. But its upper atmosphere is much like Earth.
Full alignment will be easier to see from the Southern Hemisphere—but people at Northern latitudes should still be able to spot Mars, Saturn and Jupiter.
Binoculars or a telescope might be necessary to see some of the planets.
The moon will come within four-moon diameters of Saturn in the night sky.
Around dusk tonight, Castor and Pollux will form a nearly straight line with Venus.
"It's just completely bizarre that we should have two planets the same size but opposite ends of the habitability spectrum."
Are we really alone?
Here's what we know—and don't know—about our neighboring planet.
The moon won't obscure three planets again in this way until 2036.
Hidden volcanoes and greenhouse gases mean if you were standing on the Venusian surface it would be like swimming 1,000 metres below sea level—if the ocean was scorching hot.