Guaido claimed the military helped him defy a travel ban by Maduro's government as he joined thousands over the Colombian border Friday for a charity concert.
"President Maduro has lost any legitimacy to lead his country. He needs to step aside," David McAllister, a German conservative who chairs the parliament's foreign affairs committee, said in a statement.
Venezuelan President Nicolas Maduro on Wednesday called on the country's military to maintain unity and discipline.
Venezuelan government closes the country's last independent national newspaper.
A youth was killed in the Venezuelan city of San Felix overnight when demonstrators protesting power and water outages partially burned a small police station.
Venezuela's President Nicolas Maduro said on Tuesday he was expelling the top U.S. diplomat in Caracas for allegedly conspiring against his socialist government.
Nine prisoners and two guards were killed during a riot in a prison in the western Venezuelan state of Lara, Prisons Minister Iris Varela said on Friday.
Venezuela's ruling socialist party has officially tapped President Nicolas Maduro as its candidate for this year's election.
U.S. Secretary of State Rex Tillerson on Thursday raised the prospect that the Venezuelan military could decide to oust President Nicolas Maduro.
Venezuelan cocoa on a stone counter to make chocolate bars to be sold in local shops that cater to the crisis-hit country’s dwindling elite.
Venezuelan opposition leader Antonio Ledezma has fled over the border to Colombia, authorities said on Friday.
Venezuela's foreign debt renegotiation committee will meet with creditors at 2 p.m. (1800 GMT) on Monday at the government's 'White Palace' in Caracas.
Venezuela’s opposition is shifting its focus to forthcoming state elections as protests aimed at ousting President Nicolas Maduro have subsided following .
Raul Isaias Baduel, a government critic whose whereabouts have been unknown for three weeks, is being held by the intelligence service.
Relations between Caracas and Washington are at their lowest point ever, Venezuela's President Nicolas Maduro said on Tuesday in a speech.
Maduro's government still counts powerful support from countries such as Russia and China that can block or delay punitive action the UN.
Venezuelan security forces have wielded excessive force to suppress protests, killing dozens, and have arbitrarily detained 5,000 people since April
Venezuelan security forces took up positions outside the office of the country's chief prosecutor on Saturday
Venezuela jailed two leading critics of President Nicolas Maduro on Tuesday
Venezuelan security officials seized two opposition leaders from their homes in overnight raids