Context. On December 27, 2020, Solar Orbiter completed its first gravity assist manoeuvre of Venus (VGAM1). While this flyby was performed to provide the spacecraft with sufficient velocity to get closer to the Sun and observe its poles from progressively higher inclinations, the Radio and Plasma Wave (RPW) consortium, along with other operational in situ instruments, had the opportunity to perform high cadence measurements and study the plasma properties in the induced magnetosphere of Venus. Aims. In this paper, we review the main observations of the RPW instrument during VGAM1. They include the identification of a number of magnetospheric plasma wave modes, measurements of the electron number densities computed using the quasi-thermal...