Several hundred opposition supporters rallied on a square in eastern Caracas, brandishing messages aimed at the allegedly pro-Maduro National Electoral Board (CNE) such as "Recall referendum now" and "My signature counts."
The opposition warns Venezuela risks veering into mass unrest if electoral authorities do not let them call a referendum this year on sacking Maduro, whom they blame for the once high-flying oil giant's descent into economic and political chaos.
But as at other recent demonstrations, the opposition coalition, the National Unity Roundtable (MUD), struggled to rally large numbers of protesters.
Venezuela is home to the world's largest oil reserves, but has skidded into a deep recession as global crude prices have plunged over the past two years.
Venezuelans face severe shortages of food, medicine and basic goods, violent crime and an electricity crisis that has forced Maduro to shut down government offices all but two days a week and impose daily four-hour blackouts, extended indefinitely on Sunday.