US President Donald Trump has urged Venezuela's military to accept opposition leader Juan Guaido's amnesty offer or stand to "lose everything.

Addressing Venezuelan expatriates in Miami, Trump warned them continuing to support President Maduro, they will find no safe harbor, no easy exit and no way out.

Meanwhile, Cuban Foreign Minister Bruno Rodriguez has urged more than 100 ambassadors and heads of mission in a meeting to reject the US military's aggression of Venezuela.