Chepe Fortuna stars a character called Colombia and her sister Venezuela, who owns a dog called Little Hugo, the same name as Venezuelan leader Hugo Chavez.
In one episode Venezuela loses Little Hugo, prompting Colombia to tell her she is better off without him.
The spat comes as the countries are making efforts to improve their historically strained relationship.
They restored relations last August, shortly after President Juan Manuel Santos took office in Colombia.
Venezuela's telecommunications regulator Conatel said the secretary character named Venezuela was "repeatedly characterised as associated with crime, interference and vulgarity".
Her gossipy and unscrupulous manner, it said, showed "the shameless manipulation of the plot to demoralise the Venezuelan people".
Conatel ordered the Televen channel to take the programme off air on Thursday night. The channel has not yet commented on the demands
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