There are two types of aurora that can be detected in Earth's polar regions: The night-time aurora which take the form of draperies and curtains of light, and the daytime 'cusp' aurora which are invisible to the eye and are spread out over much of the sky. The familiar night-time aurora occur because Earth has a powerful magnetic field that focuses and energizes electrons and protons trapped in the magnetosphere, and guides them into the polar regions. The cusp aurora are solar wind particles that leak into the polar regions of earth in clefts in the magnetic field.
Venus does not have a magnetic field, so it would not have night-time aurora such as the ones we see. Instead, solar wind particles penetrate deep into the upper atmosphere where they can collide with carbon dioxide and traces of oxygen. The aurora are probably similar to the cusp aurora here on Earth, but without much oxygen and nitrogen atoms to produce light, they are probably very dim. They would not be seen from the surface, but only from space.