The Sunday march took place in the center of the Venezuelan capital and ended close to Miraflores Presidential Palace.
Demonstrators held handmade signs demanding the release and return of Maduro and First Lady Cilia Flores, who were abducted in the early hours of January 3 by a US special operations team. US forces bombed several military sites in Caracas and surrounding states.
Venezuelan authorities have yet to report on damages and casualties, with unofficial sources claiming at least 80 people killed.
Venezuelan Vice President Delcy Rodríguez has taken over the presidency on an interim basis after a ruling from the Supreme Court. Following a Sunday cabinet meeting, Rodríguez called on the US to respect the country’s sovereignty and invited Washington to agree to an “agenda of cooperation.”