"We strongly hope that there will be no bloodshed," Spanish government spokeswoman Isabel Celaa told reporters.

She called for "democratic elections" and said Madrid supports a "peaceful" outcome to the Venezuela crisis.

Spain has thrown its support behind Guaido, whom it recognises as interim leader of economically-strapped Venezuela over President Nicolas Maduro.

Celaa said Madrid thinks he "is legitimate to carry out the transformation of Venezuela".

"Spain is not supporting any military coup," she added when asked to comment about the reaction of Maduro's government to Guaido's claims he has the support of soldiers, in a video recorded at an air force base in Caracas.

At the same time, Venezuela's leading opposition politician Leopoldo Lopez said he had been "freed" from house arrest by soldiers supporting Guaido, whom he joined at the air force base.

Government officials have called for Maduro's supporters to rally at the presidential palace in Caracas.

Guaido has the support of more than 50 states, including the United States, which also recognise him as interim president.