“Let’s defend the institutional, the constitution and the country over names or personal interests,” Guaidó said on Twitter.
But the other three political parties achieved the necessary majority to ratify their decision to eliminate the parallel government.
During Friday’s vote, some lawmakers expressed opposition to the decision, claiming it could put the country’s economic assets at risk of falling into the hands of Maduro’s government.
“This is shameful,” said Freddy Guevara, a representative of the Voluntad Popular party, who argued the measure would strengthen Maduro. “I can’t understand how we commit this suicide.”
Mr Guaidó’s strength was tied to his international diplomatic recognition, but US sanctions designed to aid him drained government revenues and forced Venezuelans to focus on day-to-day survival, not political mobilization. And his attempts to foment a military uprising eventually consolidated Mr Maduro, 60, control of the armed forces.
The United States continues to name Guaidó the country’s interim president, even as other countries have backed away from that recognition, relations with the Maduro administration are thawing, and the administrations of several new left-wing governments in South America have begun soften their approach to Mr. Maduro.
In recent years, the Venezuelan opposition has managed to get Maduro to agree to a political dialogue, which will continue next month in Mexico, after more than a year of silence. As part of those talks, Mr Maduro has agreed to allow some Venezuelan funds frozen abroad to be used as humanitarian aid to help alleviate hunger and other problems facing the country.
Opposition leaders are also urging him to allow free and fair terms for the presidential election scheduled for 2024.
Isayen Herrera reported from Caracas, Venezuela, and Genevieve Glatsky from Philadelphia.