Maduro, his wife Celia Flores, and top Socialist Party official Diosdado Cabello were to be assassinated, along with other figures, the government said.
More than 50 countries led by the United States lined up behind national assembly head Guaido, but Russian Federation and China have backed Maduro.
No country at the OAS proposed inclusion of Maduro's government, which formally withdrew from the regional group in 2017.
Up until now, the Venezuelan opposition appeared intent on replacing Maduro with Guaido given that as president of Venezuela's National Assembly, he stands next in line to succeed the presidency.
Figuera "turned out to be a mercenary" the minister said in Caracas. Rodriguez presented testimony from one of the detainees - Lieutenant Carlos Saavedra, whose "confession" revealed the plan envisaged the takeover of three military bases, including La Carlota air base in Caracas.
Pakistan beat New Zealand to increase World Cup pressure on England
A superb unbeaten Babar Azam century and key support role from Haris Sohail in a stand of 126 saw Pakistan snatch the game away. Star Sports is the official broadcaster of ICC Cricket World Cup 2019 in India and will be live telecasting all 48 matches.
"We would be ruthless in a revolutionary counter-offensive against a attempted fascist coup - ruthless!" "Today we have got one of the leaders, a retired general", Maduro said.
Guaido dismissed the accusations as lies.
The effort failed to shift the military's allegiance and Guaido was backed by only around 30 military personnel.
"Let it be clear to the regime that they will not intimidate us", Guaido said at a news conference, urging members of the police and military to stop taking orders from Maduro's regime.
Russian Federation is withdrawing its military "technicians" from Venezuela, flying them out to Moscow on Wednesday, the embassy in Caracas said.
Washington has imposed crippling sanctions on Maduro's government, holding the president responsible for the collapse of the Latin American oil giant, which has seen millions flee amid widespread shortages of basic goods and medicines.
Russian Federation rotated military technicians out of crisis-hit Venezuela on Wednesday, its embassy in Caracas said, as the regime declared that it thwarted an alleged coup plot.