Venezuelan President Nicolas Maduro on Monday ordered his armed forces to carry out a national exercise next week in reaction to a threat of possible US military action voiced by President Donald Trump.

"I have given the order to the armed forces' joint chiefs of staff to start preparations for a national civil-military exercise for the integrated armed defense of the Venezuelan nation," he told thousands of supports in a Caracas rally.

The drill was to take place August 26 and 27.