SEOUL—Plans for back-channel talks in New York between government representatives from North Korea and former U.S. officials were scuttled Friday after the State Department withdrew visa approvals for Pyongyang’s top envoy on U.S. relations, according to people familiar with the matter.

The talks, which were scheduled to take place on the first two days of March at a hotel near the United Nations headquarters in Manhattan, where North Korea has a mission, were contingent on the granting of a visa for Choe Son Hui, the director-general...