The judges announced their verdict in Colombia's Congress in the country's capital of Bogota on Wednesday, El Nacional reported.
The court also ruled that the Venezuelan president should pay $35 million in compensation to the country's government as part of a corruption case involving Brazilian construction company Odebrecht, which reportedly gave a total of $439 million of bribes to officials in several Latin American countries between 2001 and 2016 in order to win contracts.
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In May, the exiled court terminated Maduro's presidential powers over his alleged involvement in corruption.
Caracas, in its turn, does not recognize the authority of the Venezuelan Supreme Court in exile.