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.
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.