By mid-morning, a crowd of supporters lined the street leading up to the site of the inauguration, according to freelance journalist Mariana Zuniga.
Neither the European Union nor the Lima Group sent a representative to the inauguration, with Lima Group member Paraguay announcing immediately after the ceremony that it was breaking off diplomatic relations with Venezuela.
In a statement yesterday evening, Minister of Foreign Affairs and Foreign Trade Kamina Johnson Smith said: "The Government of Jamaica, in supporting the resolution, acknowledges that the fundamental values and principles, including the maintenance of the rule of law, respect for human rights, and democracy, as well as non-intervention in the internal affairs of states, remain pertinent considerations. like the several countries represented here".
Maduro was sworn in for a second six-year term under a cloud of skyrocketing inflation, shortages of basic food and medicine and an exodus of Venezuelans to neighbouring countries, following an election that was boycotted by the opposition.
"According to a United States intelligence official who spoke on condition of anonymity to freely discuss sensitive issues, Maduro's defense minister, Vladimir Padrino López, told the president last month to resign or accept his resignation, threat that has not yet executed, "the newspaper reported in an article where it indicates that the Venezuelan crisis is sharpened from one day to another".
Oil-rich Venezuela was once among Latin America's wealthiest nations.
David Smilde, Tulane University expert on Venezuela, said that this isn't likely to create change.
Maduro has managed to retain allies in Latin America, despite worldwide outcry.
The tiny twin-island Caribbean nation of Trinidad and Tobago has received 60,000 Venezuelans since the crisis began.
Meanwhile, the Lima Group, comprising mostly Latin American countries, said that they will not recognize Maduro's presidency.
"It does not make sense", he told NPR last month. "We hear the reports - the starvation in Venezuela, the incarceration of political opponents".
In a statement issued on behalf of the European Union, the bloc's diplomatic chief Federica Mogherini said the result of May's elections "lacked any credibility" and condemned Maduro for ignoring worldwide calls for new polls.
Maduro's answer has been to plead with his allies to invest in the country's crude, gold, diamond and coltan resources.
"That's the rallying cry of our revolution to the peoples and governments of the world". "But they are not political or against the government, they are more people complaining about the quality of life, about the scarcity of food, the lack of electricity or water".