The meeting with dozens of their mercenaries took place despite warnings from Cuba that it would be viewed as an act of provocation.
Cuba angrily criticized US officials on Saturday for meeting with government opponents following high-level talks on migration issues and said it showed the United States' real goal is to topple Cuba's communist government, not move toward better relations.
The meeting with "dozens of their mercenaries" took place despite warnings from Cuba that it would be viewed as an act of provocation and contrary to "the spirit of the migration conversations," the Cuban foreign ministry said in a statement.
"With this offensive conduct toward the Cuban authorities and people, the American government confirms that instruments of subversive policy against Cuba continue, and shows the lack of real will to improve ties with our country," the government said.
A senior US State Department official confirmed that the meeting took place on Friday, but defended it as part of US policy to promote human rights globally, not just in Cuba.
"President Barack Obama and secretary of state Hillary Clinton have made clear that our diplomacy not only in this region, but around the world is not only about connecting governments, but about connecting societies," the official told reporters. "So as part of our normal work we try to meet with various sectors of society."
The United States has long supported dissidents on the island, including about 200 who are locked in Cuban prisons.
The diplomatic tiff followed US-Cuba talks on migration issues on Friday in Havana that both sides said took place in an "atmosphere of respect."
Deputy assistant secretary of state for western affairs Craig Kelly led the US delegation to the migration talks, the second round of discussions since Obama took office with a pledge to seek a "new beginning" after five decades of hostility between the two countries separated by 90 miles (145 km) of ocean.
The talks began in the 1990s after the United States and Cuba signed an accord aimed at preventing mass exoduses such the 1980 Mariel boatlift, but were cancelled in 2004 by former president george W Bush.
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