Venzuelan intelligence officers arrest Juan Guaido's chief of staff.

Roberto Marrero, chief of staff of Venezuela's opposition leader Juan Guaido has been arrested despite warnings from the US.

Juan Guaido, Venezuela's interim president. Source: AAP

Venzuelan intelligence officers Thursday arrested the chief of staff of, the opposition leader recognized by the US and other countries as interim leader, Juan Guaido and the opposition-ruled congress said on Twitter.

Roberto Marrero was grabbed by SEBIN officers when they staged a pre-dawn raid on his Caracas home, according to Mr Guaido and a recorded voice message by Marrero published on social media.

Juan Guaido and his wife Fabiana Rosales. Source: AP

The United States has repeatedly warned Venezuelan President Nicolas Maduro's government against arresting Mr Guaido or his aides.