A source close to the government said the situation was under control.
Unidentified drones flew over the Miraflores palace in central Caracas and security forces opened fire in response around 8pm, the source said, hours after Maduro's deputy Delcy Rodriguez was sworn in as interim president following his removal. CNA reported.
Bursts of gunfire rang out, but were not as strong as in the pre-dawn attack on Saturday that toppled Maduro, according to a person who lives five blocks from the palace, who said the incident lasted about a minute.
"The first thing that came to mind was to see if there were planes flying overhead but there were not. I just saw two red lights in the sky," the resident near the palace said on condition of anonymity.
"Everyone was looking out their windows to see if there was a plane, to see what was happening."
The Communications Ministry did not immediately respond to an AFP request for comment.
