Several others were seriously injured and "between life and death," said public defender Tarek William Saab.
The latest casualties yesterday come on a day anti-Maduro demonstrators blocked major roads in the South American nation.
Two government trucks in eastern Caracas were set alight on a freeway by masked protesters who poured oil on the road. Police nearby did not immediately intervene, AFP journalists saw.
Elsewhere in the capital, riot police fired tear gas at another group of protesters who threw stones at them.
The return to violence in the streets of Venezuela after a weekend lull was certain to further stoke international concern over the country, whose economy is imploding despite vast oil reserves.
Latin American countries and the United States have voiced concern at the unrest.
The population is suffering shortages of food, medicine and basic supplies. Riots and looting have occurred in several places.
The conservative-led opposition says government incompetence is to blame and calls the president a dictator. It wants early elections.
But Maduro, who has the backing of the armed forces, says Venezuela is the victim of a US-led capitalist plot.
Authorities have also curbed the power of congress, which is dominated by opposition lawmakers.
The two deaths yesterday happened in western Venezuela.
Saab said one man in the city of Merida "was demonstrating peacefully when he apparently received a gunshot." He added in a television interview that the killed man was a pro-government demonstrator.
There were five people badly wounded in the city, he added.
The other man killed was in the nearby town of Barinas, a source in the prosecutor's office told AFP.
But an opposition party, Justice First, said the protest the man was in was against Maduro when it was targeted by pro-government "paramilitaries." It said two other people were wounded.
The government has ruled out a presidential election this year, maintaining that Maduro will see out his term into 2018. Elections for regional governors due in December have been postponed.
Maduro said Sunday he wanted the regional elections "now" but did not indicate a possible date for those or local ballots that are due this year.
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