"They won't get us out of the streets", said Guaido, whose public appearance in Caracas reflected his belief that Maduro does not have the confidence to arrest him.
"If the Americans were to propose a military intervention I would probably accept it", he said in an interview with Italian daily newspaper La Stampa.
The deputy to Venezuelan opposition leader Juan Guaido was jailed Friday at a military prison in Caracas following his dramatic arrest, ratcheting up tensions ahead of fresh protests Saturday against the government of President Nicolas Maduro.
"If we can talk about a coup d'etat in Venezuela, here it is: the dismantling of the national parliament", Guaido told a news conference, accusing Maduro's regime of "state terrorism". "If he is not immediately freed, there will be consequences", the embassy tweeted.
The coup attempt fizzled out within hours as it failed to attract broad support from the military, having been orchestrated by a small group of soldiers. "He was one of the main [leaders] of the coup", Maduro's second-in-command, Diosdado Cabello, said on television, according to the Guardian.
The same politicians had already been accused by the country's Supreme Court of conspiracy, rebellion and treason and raised the same accusations against three more MPs.
Mr Zambrano said on Twitter that SEBIN agents had surrounded his vehicle near the headquarters of his Democratic Action party in Caracas' La Florida district.
Soon after the announcement, the Constituent Assembly - which effectively acts as a regime rubber stamp - stripped the seven of their parliamentary immunity.More news: Senior Trump adviser uses fake video to defend Israel's attacks on Gaza
"We were surprised by the SEBIN, and after refusing to let us leave our vehicle, they used a tow truck to forcibly transfer us directly to the [SEBIN headquarters] Helicoide", he said.
They are among 10 National Assembly members charged with treason for supporting Guaido's call for a military revolt on April 30.
Maduro has appeared to let Guaido wage a campaign against him following USA warnings that there would be severe repercussions if he took action against his foe.
The Constituent Assembly, which Nicolas Maduro created to sideline the National Assembly, has said it would suspend the immunity of any lawmakers who backed the uprising.
The Trump administration blames Mr Maduro's socialist policies and government mismanagement for Venezuela's economic crunch, warning that 2 million more people are expected to flee by the end of the year if the crisis continues.
Attorney General Tarek William Saab says the two days of clashes that followed left six people dead.
Venezuela has suffered more than four years of recession marked by shortages of basic necessities such as food and medicine.