Delcy Rodriguez has been sworn in as Venezuela's interim president in a parliamentary session that began with demands for the release from US custody of ousted leader Nicolas Maduro.

Rodriguez, 56, vice president since 2018, said she was pained by what she called the 'kidnapping' of Maduro and his wife Cilia Flores who were seized by US forces in an overnight raid.

In dramatic scenes inside a New York courtroom, Maduro insisted he was still the president of Venezuela as he pleaded not guilty to charges of drug trafficking and terrorism.

The US faced sharp criticism at the UN, but the US ambassador justified the operation, stating that the largest energy reserves in the world cannot remain under the control of a 'fugitive from justice.'

Before the court appearance, the UN Security Council held an emergency session where the Venezuelan ambassador accused the US of conducting an illegal armed attack.

The US ambassador labeled Maduro as an 'illegitimate so-called president' during the session. Maduro has been accused of multiple serious criminal charges including conspiracy and possession of deadly weapons.

During the courtroom session, Maduro maintained, 'I'm a decent man. I am still president of my country,' despite being removed in shackles after the hearing.

On the political front, Rodriguez emphasized her desire for a peaceful resolution, inviting US cooperation under international law to assist in the development of Venezuela.

Thousands gathered in support outside the Federal Legislative Palace as Rodriguez vowed to improve the dignity and sovereignty of Venezuela's people.

Maduro's family expressed unwavering support, asserting their belief that he and Cilia would return to Venezuela. The next court date for Maduro's case is set for March 17.