Luis Florido announced he has fled Venezuela for neighbouring Colombia, in a video posted on Twitter Friday.
"I am out of the country in Colombia, safe from a regime ready to imprison deputies," said Juan Guaido's deputy in the video.
Earlier in the day Venezuela's Supreme Court has decreed to put the deputy speaker of the National Assembly, Edgar Zambrano, in pretrial detention at a military jail in the capital Caracas.
Edgar Zambrano was earlier apprehended by intelligence agents for his support of the failed uprising orchestrated by the country's self-proclaimed president, Guaido.
Another Guaido's deputy Americo de Grazia entered Thursday the Italian embassy in Caracas.
After a failed coup attempt on 30 April Venezuela's Constituent Assembly stripped Edgar Jose Zambrano, Luis Florido, Henry Ramos Allup, Richard Blanco, Marianela Lopez, Simon Calzadilla and Americo de Grazia of their paliamentary immunity.
The prosecution charges them with high treason, public conspiring for violating law, inciting civil uprising, and power usurpation, among other crimes.
Over the past years, Colombia and Venezuela have recalled their ambassadors multiple times amid tense relations between the two neighbouring countries. Tensions escalated further after the assassination attempt on Maduro in August 2018. Caracas accused Bogota, particularly then-Colombian president Juan Manuel Santos, of having a role in the attack. The Colombian Foreign Ministry denied any involvement of Bogota in the assassination attempt on Maduro.
Following the attempts to illegally bring humanitarian aid into Venezuela from Colombia, Maduro announced that Caracas was cutting off diplomatic and political relations with Bogota.
The crisis in Venezuela began when opposition leader Juan Guaido proclaimed himself Venezuela's interim president on 23 January, two weeks after President Nicolas Maduro's inauguration for a second term following elections in May 2018.
Russia, Bolivia, China, Cuba, Turkey and a number of other countries have voiced their support for constitutionally-elected Maduro as the only legitimate president of Venezuela.
Moscow accused the US of supporting coup attempts and planning a military intervention in the Latin American state.
Secretary of State Mike Pompeo announced that the US has a "full-scale set of options" to resolve the Venezuelan crisis, claiming that any actions that the US takes in the country would be "lawful".