In a US-led telephone conversation, Lavrov said "Washington's interference in Venezuelan affairs is a flagrant violation of international law" and that "this destructive influence has nothing to do with democracy", the Russian Foreign Ministry quoted him as saying in a statement.
"The pursual of these aggressive steps is fraught with consequences," Lavrov said, adding that "only the Venezuelan people have the right to decide their destiny".
Pro-Maduro rallies were also expected, a day after violent clashes erupted in the capital Caracas following Guido's call on the military to rise up against Maduro, who claimed the insurrection had failed.
The United States is among some 50 countries that recognise Guaido, the opposition leader who declared himself interim president in January in a bid to replace Maduro, whom he has branded as illegitimate.
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