"The Green Berets are innocent of the crimes they are charged with. They were not mercenaries, they were not part of an invasion," said Richardson, who is working with the two Americans' families.
"I haven't done anything," Milagros Mata Gil wrote in a Facebook post warning of her arrest.
U.S. president reportedly unhappy with how chaos in Caracas played out.
Venezuelan President Nicolás Maduro said the talks had a "peaceful agenda," but national security adviser John Bolton said "his exit" was "the only real solution."
Venezuelan opposition leader Juan Guaidó's U.S. envoy "welcomes the support of the United States and confirms our government's willingness to begin discussions regarding the cooperation that has been offered."
The Florida senator says U.S. military action in Venezuela is "always" an option, citing the unstable presence of drug cartels, Marxist militant organizations and "hundreds" of Russian military advisers in the South American nation.
"The U.S. government has the incentive to say the things they said whether or not they're true," coup expert Naunihal Singh said.
The Colombia guerrilla group ENL has close ties to the Maduro regime in Venezuela.
Iran and Venezuela's shared hostility toward the U.S. is rooted in its attempts at regime change.
Will we stand by, as we did in Hungary, or intervene if forces loyal to Maduro begin arresting and executing people en masse?
White House national security adviser John Bolton has pushed a hawkish foreign policy on a president who campaigned to stop costly, "endless wars" waged by the U.S.
White House national security adviser John Bolton praised the head of U.S. Southern Command, who said troops were "on the balls of our feet" to take action in Venezuela.
The White House national security adviser claimed three top Venezuelan officials have defected, but none have announced a switch.
Venezuela's Bolivarian National Guard clashed with opposition forces in what appeared to be the greatest challenge to President Nicolás Maduro's ruling United Socialist Party since a previous coup attempt in 2002.
Russian President Vladimir Putin's spokesperson said that the Security Council "paid much attention to the situation in Venezuela in light of the news about an attempted coup."
"Maduro, with the help of Cuban intelligence, has a plan, and that is to find new pretexts for arrests of those who seek a return to democracy," one expert told Newsweek.
Russia said "it would be nice to know" what U.S. military advisers were doing in Colombia and why President Donald Trump wants Venezuela's other neighbor, Brazil, to join NATO.
China said it "would like to work with the international community to help Venezuela restore stability at an early date," just as Russian military personnel and equipment showed up in Caracas.
Pence wrote in an op-ed: "Maduro continues to stand in the way of Venezuela's freedom and democracy."
Venezuela, once boosted by Hugo Chávez, suffers one of the world's worst economic crises amid a political row between President Nicolás Maduro and opposition leader Juan Guaidó.
Vice President Mike Pence said the U.S. would not tolerate "any threats, violence or intimidation" against opposition leader Juan Guaidó, but his Venezuelan counterpart railed against Western intervention.
Russia's top diplomat Sergei Lavrov said Elliot Abrams wants "bloodshed in Venezuela to justify military intervention," but the U.S. envoy said he doesn't mean it.
The accusation was made the same day deadly violence broke out on Venezuela's border with Brazil.
Venezuela's communications minister said that arrested ex-colonel "confesses that U.S. officials were planning a military operation against Venezuela in 2019."
By the end of February, a total of 29 tons of gold reserves will have been sent to the Middle East nation, according to a Reuters source.
"At this moment, there are police special forces in my house," self-declared national leader Juan Guaidó said as Venezuelan President Nicolás Maduro touted his military and spoke of a "coup d'état orchestrated by imperialism."