He noted that Russia has Venezuela's support "amid threats from NATO and the Western world".
"We have reviewed military cooperation [with Russia] and approved the direction for powerful military cooperation between Russia and Venezuela to protect peace, sovereignty, and territorial integrity", Maduro said during a joint speech in Caracas with Russian Deputy Prime Minister Yury Borisov.
The Venezuelan president also stressed that "the diplomacy of peace will win", noting that Russia practices a diplomatic approach while "protecting its interests".
On Wednesday, Borisov, who chairs Russia's intergovernmental commission on trade, economic and technical cooperation with Venezuela, paid an official visit to Caracas.