Earlier in the day, the lawmakers convened for a special debate on the constitutionality of Maduro's "coup" against democracy.
The National Assembly parliamentarians also voted in favor of ordering the president to appear at a session next Tuesday. The session was broadcast by the Capitolio TV channel.
In early October, the Venezuelan opposition reported that National Electoral Council (CNE) had acknowledged 1.3 million signatures, collected by the opposition to hold the referendum on the Maduro impeachment as valid.
24 October 2016, 18:57 GMT
The opposition seeks to conduct a recall referendum before January 10, 2017. If the referendum is carried out after this date, the current Vice President Jorge Arreaza will succeed Maduro and will hold the post for two years even if people vote against the country's leader. If the vote takes place before January 10, new presidential elections will occur according to the country's constitution.
Venezuela has been in a state of an economic turmoil since January. The opposition blames Maduro's economic policies for the recession, high rate of inflation, shortages of food and other essential supplies in the country.
