Venezuela's sidelined opposition-controlled parliament called on Friday (Jan 11) for a mass protest against President Nicolas Maduro in a bid to oust the socialist leader in favour of "a transitional government," Cannel News Asia reported.

Maduro, 56, was sworn in for a second term on Thursday, having won a highly controversial election in May that was boycotted by the opposition and branded a fraud by the United States, European Union and Organization of American States.

The National Assembly's president Juan Guaido said the constitution gives parliament the right to assume transitional power after declaring Maduro a "usurper," but said it would need military backing and for people to take to the streets to demand change.

"Is it enough to lean on the constitution in a dictatorship? No. It needs to be the people, the military and the international community that lead us to take over," said Guaido, speaking to around 1,000 opposition supporters in Caracas.