The pro-government legislature voted unanimously for the move, the local AVN news agency said. Borges responded by calling the decision a "farce" and accused authorities of kidnapping Requesens.
The vote followed a ruling by the Supreme Court to detained both lawmakers. Requesens was arrested before his immunity was lifted, while Borges fled to neighboring Colombia.
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Maduro initially blamed Colombia for organizing an assassination attempt on him during a public speech last week when two explosives-laden drones went off next to his stand. Several people were injured but the president escaped unhurt.