The former world number one beat her American opponent 6-3 6-3 in front of a crowd of 13,000 at the Antwerp Sports Palace.
Clijsters retired after this year's US Open but always wanted to say goodbye to her fans, among whom were Crown Prince Philippe and Princess Mathilde on the night.
The Belgian boasts a 7-6 winning record over Venus on the women's Tour and was never going to lose this one, yet she still delivered a reminder of what she was capable of before her second retirement from the game.
"I had no regrets at stopping my career on August 29 at the US Open, and I still don't have any. Sorry to stop you," said Clijsters.
"There's not just tennis in my life. I like cooking, gardening, reading, decorating the house, putting up the Christmas tree and running."