The president of the opposition-controlled but sidelined National Assembly was detained by Venezuelan intelligence agents for around an hour Sunday, but President Nicolas Maduro's government denied any knowledge of the operation.
"We have learned that there was a situation in which a group of officials acting in a unilateral manner conducted an irregular procedure," said Communications Minister Jorge Rodriguez.
He added that officers from the SEBIN intelligence service "are being dismissed and subjected to a stricter disciplinary procedure" after having provoked a "media circus."
After Guaido's release, Rosales in a Twitter post thanked "everyone that reacted immediately with support against the dictatorship's abuses against my husband."
"If they want to send a message so that we go into hiding, here is the people's response: We are here!"
On Friday, the 35-year-old Guaido had said that the Venezuelan constitution gave him the authority to assume power as part of a government of transition after branding Maduro a "usurper."
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