To check for meta key value then display:
if ( get_post_meta( $post->ID, 'venue_info', true ) ) : echo get_post_meta( $post->ID, 'venue_info', true )
endif;
via: The Codex
if ( get_post_meta( $post->ID, 'venue_info', true ) ) : echo get_post_meta( $post->ID, 'venue_info', true )
endif;
via: The Codex