President-elect Donald Trump says Venezuela's embattled opposition leader must be protected as President Nicolas Maduro takes the oath of office for a third six-year term.

Venezuelan opposition leader Maria Corina Machado said she is now safe after her aides said she was “intercepted” at a protest in Caracas on the eve of President Nicolas Maduro’s inauguration.

It is not viable for Venezuelan opposition leader Edmundo Gonzalez to enter the country, his ally Maria Corina Machado said on Friday, shortly after President Nicolas Maduro was sworn in for a third term despite months of controversy over the country's contested July election.