"We have been facing various forms of coup d'etat, due to the obsessive efforts of the Venezuelan right, the Colombian oligarchy and the USA empire", Maduro explained, adding that the military air base Guaido had spoken from earlier in the morning was never under the control of the opposition.
Detained in 2014 for leading a previous round of anti-government unrest, Lopez said he had been released from house arrest by security forces adhering to an order from Guaido.
Pompeo added that Washington had been told in recent weeks by "senior leaders" within the Venezuelan government that they would defect in the event of an uprising.
Bolton named Venezuelan Defense Minister Vladimir Padrino, Supreme Court chief judge Maikel Moreno and presidential guard commander Ivan Rafael Hernandez Dala as having told the opposition that Maduro needed to give up power to opposition leader Juan Guaido.
Guaido said he was at the Caracas airbase La Carlota.
The streets of Caracas, Venezuela have turned into chaos Tuesday after a military vehicle drove directly into a crowd of protesters.
Earlier on Tuesday, US President Donald Trump issued a warning to Cuba, urging its military to leave Venezuela.
Demonstrators clashed with police on the streets of the Venezuelan capital on Tuesday, spurred by opposition leader Juan Guaido's call on the military to rise up against President Nicolas Maduro, who said he had defeated an attempted coup.
Russia, which has substantial economic ties to Maduro's government, in March sent planes carrying almost 100 military personnel the USA government believes included special forces and cybersecurity experts to Venezuela.
Maduro calls Guaido a U.S-backed puppet who seeks to oust him in a coup.
Germany is one of 54 countries to recognize Guaido's role as interim president and called for new elections, but it has not declared Maduro's presidency invalid.
In a three-minute video posted on Mr Guaido's twitter page, he is seen surrounded by heavily armed soldiers backed by a number of armoured vehicles.
Who is Venezuela's legitimate leader?
"He was headed for Havana", Mike Pompeo said on CNN.
"All agreed that Maduro had to go".
Trump's threat against Cuba marked an intensification of a US campaign in recent weeks to pressure Cuba over its role in Venezuela, although some experts and former USA officials say Trump and his aides have overstated Cuban involvement in the Venezuelan crisis.
Although Trump has repeatedly said "all options" are on the table regarding Venezuela - including, implicitly, military action - there has been no noticeable U.S. military mobilization.