Washington is urging its citizens in Venezuela to depart immediately due to the risk of armed militia groups searching vehicles for Americans.

As explosions tore through the night sky over Venezuela's capital, Mariana Camargo rushed to escape on a street in eastern Caracas.

Residents resume business and shopping, though streets are emptier than usual and an atmosphere of tension persists.

Gunfire erupted near the Venezuelan presidential palace, with anonymous sources reporting that security forces opened fire after detecting unidentified drones.

Venezuelan officials state US forces raided Fort Tiuna base in Caracas, 'kidnapping' President Maduro and his wife while they slept.

Supporters of the Venezuelan president gathered in the capital Caracas, demanding the United States immediately release Maduro.

Russia condemns the US for "armed aggression" against Venezuela after Washington announced a strike on Caracas and the arrest of President Nicolas Maduro.

Caracas criticizes Trump for "threatening sovereignty" after the US president declared the airspace over and around Venezuela would be "completely blockaded".