Venezuelan President Nicolas Maduro has called on the armed forces to oppose "any coup plotter" after a failed military uprising by forces supporting opposition leader Juan Guaido left four protesters dead.

"Yes, we are in combat, keep morale high in this fight to disarm any traitor, any coup plotter," Mr Maduro said at a televised event with the military high command in which he appeared surrounded by soldiers.

"No one can be afraid, it is the hour to defend our right to peace," he said at a ceremony in which, according to the government, 4,500 military personnel were present.

President Maduro's call comes after an uprising on Tuesday by a group of military personnel under the leadership of Mr Guaido, recognised by more than 50 countries as Venezuela's interim president.

The rebel soldiers gathered at a Caracas highway with Mr Guaido, who urged Venezuela's armed forces to rise against Mr Maduro.

That sparked two days of protests against the government in which four people were killed, including two teenagers who died today.

The government said more than 150 people were arrested.

In Washington, US President Donald Trump offered prayers at a White House service for "the people of Venezuela in their righteous struggle for freedom".

Venezuelan court issues arrest warrant for opposition politician Lopez

Meanwhile, Venezuela's top court has ordered the arrest of opposition figure Leopoldo Lopez.

He has sought refuge in the Spanish embassy since claiming to have been freed from house arrest two days ago by rebel military personnel.

Mr Lopez, who was imprisoned in 2014 and transferred to house arrest three years later, made a surprise public appearance alongside Mr Guaido on Tuesday.