Edgar Zambrano was earlier apprehended by intelligence agents for his support of the failed uprising orchestrated by the country's self-proclaimed president, Guaido. Zambrano's detention suggests a crackdown is coming against those involved in last week's failed uprising - especially after the Constituent Assembly stripped him and six other lawmakers of parliamentary immunity.
They are among 10 National Assembly members charged with treason for supporting Guaido's call for a military revolt on April 30.
Government officials had announced that Mr Zambrano and eight other opposition lawmakers faced investigation on charges of "betraying the homeland" and "instigating an insurrection", for their roles in last week's unrest.
Three more legislators found themselves accused on Wednesday.
Although the group shares the opposition's goal for a free and fair election in Venezuela as soon as possible, it considers the government of Nicolás Maduro a necessary stakeholder to achieve a peaceful transition.
It warned of "consequences" if Zambrano is not immediately released.
The United States, European Union and several Latin American states criticized Zambrano's arrest.
"They brought a tow-truck, now he's going to have to pay the towing fee", said a smiling Cabello as his audience laughed.
The 64-year-old's auto was surrounded outside his Democratic Action Party's headquarters before it was towed, with him still inside, to the notorious Helicoide prison inside SEBIN headquarters. The politician himself was able to denounce on Twitter what was happening to him, as he wrote: "We were surprised by SEBIN, and after refusing to leave our vehicle, they used a crane to take us directly to the Helicoide [a political prison in Caracas]".
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Guaido invoked the constitution to assume an interim presidency in January, arguing Maduro's 2018 reelection was illegitimate.
Maduro has overseen the collapse of Venezuela's economy, which has shrunk by half over the past five years, forcing more than 3million Venezuelans to emigrate.
The Constituent Assembly has said it would suspend the immunity of any lawmakers who backed the uprising, which sparked two days of clashes between security forces and protesters.
"Investigations have succeeded in proving that General Manuel Ricardo Cristopher Figuera has been recruited by the Central Intelligence Agency for more than a year", Maduro said, adding that justice would be served on the "traitor" Figuera "sooner rather than later".
US President Donald Trump himself spoke out against the arrest on Twitter and signalled his support to Mr Guaido.
This comes after one of Guaido's deputies Edgar Zambrano was jailed for treason, conspiracy, civil rebellion, while another - Americo de Grazia, reportedly took refuge in the Italian embassy in Caracas.
The U.S. Treasury Department imposed sanctions on Moreno and the seven principal members of the court's constitutional chamber in 2017 for rulings that "usurped the authority" of the National Assembly.
Secretary of State Mike Pompeo announced that the USA has a "full-scale set of options" to resolve the Venezuelan crisis, claiming that any actions that the U.S. takes in the country would be "lawful".