New York's main contract, light sweet crude for February rose 92 cents to $90.30.
Brent North Sea crude for delivery in February rose 97 cents to $95.50 a barrel in London trade.
The US Department of Energy reported that stockpiles of crude oil slumped by 4.2 million barrels during the final week of 2010. Analysts had forecast a drop of 2.2 million barrels.
Crude inventories fell by more than 15 million barrels in the United States -- the world's biggest oil consumer -- during the first three weeks of December due to strong demand.
"Demand is relatively high, that put the bias to the upside," said analyst Rich Ilczyszyn of Lind-Waldock.
After slumping on Tuesday, oil prices remained close to two-year highs and the International Energy Agency warned they were in danger of threatening a fragile economic recovery in developed nations during 2011.
"Oil prices are entering a dangerous zone for the global economy," IEA chief economist Fatih Birol was cited as saying in the Financial Times newspaper on Wednesday.
"The oil import bills are becoming a threat to the economic recovery. This is a wake-up call to the oil consuming countries and to the oil producers."
Should prices again head towards $100, Birol's comments are likely to add pressure on oil cartel OPEC, which last month decided to leave production quotas unchanged despite the rising prices.
Oil hit two-year highs on Monday due to confidence in increased global energy demand after the US economy showed more signs of recovery.
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