State Department warns US citizens to leave Venezuela

Some protests were reported in the U.S. and other countries following the attack.

In New York City's Times Square, crowds mustered with signs urging the U.S. to stay out of Venezuela.

A similar crowd also demonstrated outside of the White House.

Meanwhile, in Doral in South Florida, home to the largest Venezuelan community in the U.S., people gathered in the street to cheer Maduro's capture, dancing and waving Venezuelan flags. 

Elsewhere around the world, protesters in Paris burned the American flag and waved "boycott the U.S." signs. Demonstrators in Athens also burned American flags. 

In Colombia, protesters demonstrated in front of the U.S. embassy while in In Buenos Aires, a banner was tacked up reading "Trump, your drug is oil."

-ABC News' Victoria Beaulé

The aircraft believed to be carrying Nicolas Maduro has touched down at Stewart Airport in Orange County, New York, Saturday afternoon, sources familiar with the matter told ABC News.

Maduro is now expected to take a helicopter to New York City, accompanied by the DEA. He will then head by motorcade to a location in New York City for processing before he's held in jail, sources said.

-ABC News' Katherine Faulders, Luke Barr and Aaron Katersky

Venezuelan Vice President Delcy Rodriguez addressed the nation on state television for the first time since President Nicolas Maduro's removal and demanded his release.

Rodriguez said Maduro was the only president of Venezuela and slammed the U.S. for its early morning strike.

"We had already warned that an aggression was underway under false excuses, under false pretexts, and that the masks had fallen and it had only one objective: regime change in Venezuela — and the capture of our energy, mineral, and natural resources," she said in Spanish.

Rodriguez also warned that "the people have mobilized"

"If something were to happen to him, the people must go to the streets, the armed forces must deploy across the country, and all institutions must activate — to defend what we are, as sons and daughters of Simon Bolivar," she said.

"We ride to defend the great homeland," she added.

-ABC News' Dada Jovanovic and Victoria Beaule

House Minority Leader Hakeem Jeffries and Senate Minority Leader Chuck Schumer called for an immediate "Gang of Eight" briefing on actions in Venezuela, referring to the group of top congressional leaders briefed on national security issues.

They also called for a briefing next week for all members of Congress.

"President Trump’s announced plan to run Venezuela is unacceptable," they said in a joint statement. "It is critical that the Trump administration provide an immediate Gang of Eight briefing, followed by briefings for all Members of the House and Senate early next week."

-ABC News' Allison Pecorin