The United States has revoked the visa of the Brazilian ambassador in Washington after Brazil withheld formal approval for President Donald Trump's nominee as US ambassador and denied visas to two American diplomats, a senior State Department official said on Tuesday.

Brazilian Ambassador Maria Luiza Ribeiro Viotti's visa will be restored "if the balance is restored by giving agrément to our chosen ambassadorial nominee," said the official, who briefed reporters on condition of anonymity.

In early June, Trump nominated Daniel Perez, a Florida state representative and close ally of Secretary of State Marco Rubio, to be the next US ambassador to Brazil. The US Senate has yet to confirm his nomination, and he will not be able to take up the post until Brazil approves.

The Brazilian government rejected the US decision in a statement on Tuesday, calling it based on "false" claims and arguing that its consideration of Perez was proceeding in line with international diplomatic norms, among them that Washington should have secured Brazil's approval before announcing his nomination.

(With input from agencies)