No, it didn't. But it took a look at what is there, and it found 800 degrees, sulfuric acid, and no oil. End of velikovskianism. There are still sabertooth toger and mammoth bones and hides all jumbled together in frozen muck in Fairbanks, though, so something happened not so long ago.
The high temperature is exactly what Velikovsky predicted; Venera 4 found 95 per cent CO2 in the atmosphere; sulfuric acid was conjured out of spectral data gathered from Earth in the early 1970s.