Hundreds of his opponents gathered near a court in eastern Caracas to protest a recent ruling that bars rallies from taking place near the offices of the National Electoral Board.
The activists, who want the electoral authorities to call a referendum on removing Maduro from office, waved a red, yellow and blue Venezuelan flag and banners denouncing shortages of food and medicines caused by a severe economic crisis.
It was a small rally but similar ones were called around the country, a week after protesters braved tear gas in a march against Maduro and the state of emergency he has imposed.
The president is said to control the high court and other key state institutions, and so far has the public support of the army top brass.
The leader of yesterday's rally, former presidential candidate Henrique Capriles, called on the military to support the call for a recall vote.
"The time is coming to decide whether you are with the constitution or with Maduro," he said, addressing the military.
Last week's disturbances raised fears of deeper unrest in Venezuela, where anti-government rallies in 2014 led to riots that killed 43 people.
"I am marching in fear, but I am marching," said one demonstrator, Daniela Huizi, referring to the threat of government repression.
"If it were not for the strength of arms, they would have nothing.
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