In a three-minute video posted on his Twitter account, the 35-year-old lawmaker said soldiers who took the streets would be acting to protect Venezuela’s constitution.

“The moment is now,” said Guaido, who shot the video at a Caracas airbase surrounded by soldiers and accompanied by detained activist and mentor, Leopoldo Lopez.

“The national armed forces have taken the correct decision, and they count on the support of the Venezuelan people,” he said.

In his first public appearance since being detained in 2014 for leading anti-government protests, Lopez claimed on Twitter that he was freed by the military and called on all Venezuelans to peacefully take to the streets.

"This is the moment of all Venezuelans, those in uniform and those who aren't," he said. "Everyone should come to the streets, in peace."