Anti-Maduro demonstrations were held in Sydney, Canberra, Adelaide and Brisbane in support of the country's opposition leader Juan Guaidó who has proclaimed himself "acting president".
The protests coincide with violent marches in the South American country, which have seen tens of thousands of anti-government protesters take to the streets of the capital Caracas.
The United States and many of Venezuela's neighbours, who refused to recognise Maduro's re-election last year, lost no time in formally recognising Guaidó as president.
Guaidó called for anti-government protests in Caracas on Tuesday, signalling to supporters that: "We have a historical appointment with our country, with the future of our children, Venezuelan military, tomorrow we have a historic appointment with the people."
The protests are the first significant street demonstrations following protests which left more than 100 dead between April and July 2017.
The country is going through the worst crisis in its modern history, with shortages of food and medicine rife and hyperinflation that the International Monetary Fund projects will hit a staggering 10 million per cent in 2019.
Venezuelans in Australia demonstrated to express their support for Guaidó and the National Assembly (Parliament).
Rina Rivas is a spokesperson for the Venezuelan organisations 'Venezuela somos todos', or We are all Venezuela, and 'Sin Mordaza' or Without Gag, who took part in the Sydney protests.
"We are a group of Venezuelans making a public call to all Venezuelans, to the residents of several cities [in Australia] to join us in supporting," Ms Rivas told SBS Spanish.
"We are sending a message to the people of Venezuela, to support the call made by the National Assembly with Juan Guaidó."
The activist said the street "expressions" in Australia against Maduro's government, as well as in his country and the rest of the world constituted "a crucial moment in which all Venezuelans must be united so that our cry is heard, that we want freedom for Venezuela".
The situation in Venezuela has led to the exodus of 2.3 million people since 2015, according to the UN, which is the most significant migration movement in decades in Latin America.
It has led to outbreaks of xenophobia in countries such as Brazil, Colombia and Ecuador, and of remittances from abroad to alleviate the situation of relatives and friends who stayed in the country.
Given the current unrest in Venezuela, Ms Rivas said: "The people in Australia are requesting, and we are going to send the request to the Australian government to recognise the National Assembly as the only legitimate body, with Juan Guaidó as interim president of Venezuela. We want the support of the entire community; we want the National Assembly and Juan Guaidó to be recognised all over the world."
But opponents of Maduro weren't the only ones who took part in the street rallies in Australia on Wednesday, a day which marked the 61st anniversary of the coup d'état perpetrated in 1958, to end the dictatorship of Marcos Pérez Jiménez, who was forced to leave the country for the Dominican Republic aboard the presidential plane.
The members of pro-Maduro group 'Solidaridad con Venezuela', or Solidarity with Venezuela, composed of Venezuelans and Latin Americans residing in Australia, also took to the streets, including Chilean Vlaudín Vega, who said "in Venezuela there is an elected government, an elected president who is supported by a majority of Venezuelan people and that is what we respect".
"We understand that there are people who do not agree and that is part of democracy. They are dissidents, and we understand that they need to do something against President Maduro and the democratically elected government," Ms Vega said.
"That is why we are gathering outside the US consulate because we believe that it is possible that with the support of other Latin American governments and the United States, they could invade Venezuela and form a government that is under the interests of the US government."
President Maduro, has asked the ruling party for the "maximum popular mobilisation to defend the homeland" amid the protests.
"Women on the street! Men on the street! Popular power on the streets! Combat, ... defend peace," Maduro said.
US Senator Marco Rubio recently issued a warning to the Venezuelan Intelligence Service (Sebin), calling Maduro to reconsider any plans to militarily oppose the demonstrations: "They are about to cross a line and unleash an answer for which, believe me, they are not prepared. There is still time to avoid this. "
In Australia, Maduro's calls have been echoed by the Solidarity with Venezuela group, who indicated they were alert to any potential takeover of the Venezuelan Embassy in Canberra by the anti-government activists.
"At the Canberra Embassy, we are waiting for certain things that we do not want to do, that are violent, because if they come with violence, we will respond in the same way," Ms Vega said during the protests.
According to the 2016 census, there are more than 4,500 Venezuelans in Australia, of which a total of 3,932 participated in the plebiscite or popular consultation organised by the country's opposition that the government did not know.
The United States has given its support to the Venezuelan opposition.
"We will continue with you until democracy is restored and you recover your right to freedom," US Vice President Mike Pence said in a video on Twitter.
In response, Venezuela's communications minister, Jorge Rodríguez, accused Pence of ordering the insurgents to hand over weapons to activists of the Popular Will group - which are aligned with Guaidó and imprisoned leader Leopoldo López - to provoke "wounding" during the demonstrations.
