Lopez, the founder of Popular Will -- one of the most hardline parties opposing President Nicolas Maduro -- is serving a nearly 14-year sentence on charges of inciting unrest at anti-government protests in 2014.
Today marks the third anniversary of his arrest, and Popular Will has called a protest in Caracas under the banner "No more dictatorship."
In an audio message recorded in his jail cell at the Ramo Verde military prison, Lopez urged Venezuelans to join in.
The message comes after Trump met with Lopez's wife on Wednesday and tweeted that Venezuela should "immediately" free Lopez, whom he called a "political prisoner."
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The following day, Venezuela's Supreme Court upheld Lopez's sentence. His lawyer said he would appeal to international courts.
US-Venezuelan tensions have soared since Trump's tweet, with Maduro warning the new American leader not to provoke him.
Lopez's sentence has been strongly condemned by the United Nations, the United States and the European Union.
Venezuela's socialist government, which is fending off a punishing economic crisis that has pummelled its popularity, denies Lopez is a political prisoner.
It blames him for the deaths of 43 people during the 2014 protests.
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