According to official data, about four million people already had left Venezuela, the ministry said, noting that inflation was about to reach 1.7 million per cent.
Subsequently, Guaido, on January 23, proclaimed himself to be the President, despite Maduro winning the presidential elections previous year.
But a defiant Maduro maintains control of the military and calls the Guaido-led opposition a puppet of the United States, which he says is seeking to colonize Venezuela and exploit its vast oil resources.
"We condemn the brutality of the Maduro regime, whose socialist policies have turned that nation from being the wealthiest in South America into a state of abject poverty and despair", Trump said.
In response to the US, UK, Canada and many European countries coming out to officially recognize Juan Guaidó as Venezuela's interim president, Williamson reminded MPs in Parliament on Tuesday that US intervention in Latin American countries "never ends well". He accused the opposition of taking orders from the United States.
In a declaration, the group urged the Venezuelan military to support Guaidó.
Venezuela's opposition leader Juan Guaido has asked Italy's ruling coalition leaders to meet with representatives as he seeks their explicit backing as interim president alongside nearly all other European countries.
Guaido is trying to force Maduro from power, set up a transitional government and hold a new presidential poll.
Alan Duncan, Britain's minister for the Americas and Europe, said Maduro's "mismanagement and kleptocratic approach" are singularly responsible for crippling his country's economy.
Ice pellets and freezing rain could impact Wednesday's commute
Rain showers are moving out of Metro Detroit this Tuesday morning as temperatures begin to tumble. The commute in to work on Wednesday will be fine but that could all change by the afternoon.
The aid squabble is now the latest front in the battle between Guaido and President Nicolas Maduro, who is vowing not to let the supplies enter the country.
Yon Goicoechea, a member of Guaido's policy team, told Reuters that Guaido was in contact with PDVSA's global partners and they were willing to keep operating in Venezuela.
So far, Maduro has rejected foreign aid.
Maduro broke off diplomatic ties with the United States after Trump recognized Guaido.
This weekend he plans to oversee a deliberate provocation of the military by ordering in supplies of humanitarian aid.
On Saturday, an air force general defected to the opposition and reportedly fled to neighbouring Colombia, and posted a video on YouTube declaring that his country's transition to democracy was "imminent".
Mr Maduro has written a letter to Pope Francis requesting a renewal of dialogue in the crisis.
"If anyone believes that his management of the economy is in any way an example of how to go about it, then they need their heads examined". Italy reportedly blocked efforts by European Union foreign ministers to agree on a joint declaration on Guaido's interim presidency. Local NGO Foro Penal said nearly 1,000 people were detained between January 21 and 31.