"Venezuela rejects in the most categorical and convincing manner the unfriendly and hostile statements by US President Donald Trump... in which he threatens a military invasion against our homeland", Arreaza told broadcaster Venezuelana de Televisión.
General Vladimir Padrino, a close ally of Maduro, said: "With this extremist elite that's in charge in the USA, who knows what will happen to the world?"
The Pentagon said after Trump's words that it had not received any order on Venezuela from the White House.
The White House said Mr Maduro had requested a phone call with his USA counterpart on Friday.
President Trump on August 10.
Peru's announcement on Friday, shortly after President Pedro Pablo Kuczynski called Maduro a "dictator", marked the first time that a country has moved to expel a Venezuelan ambassador since the country's July 30 vote to form the constituent assembly amid allegations of fraud.
The Trump administration has issued a series of sanctions against Maduro and more than two dozen current and former Venezuelan officials. "But a military operation, a military option, is certainly something we could pursue", he responded.
Of course, unlike North Korea, which has been test firing ballistic missiles, Venezuela in no way poses a threat to the United States.
Other Latin American countries also condemned Mr Trump's comments, including Mexico, Colombia and Peru, which said Mr Trump's threat was against United Nations principles. Normally, such a declaration by a United States president would spark extended debate and command the world's full attention.
"We will continue to take strong and swift actions against the architects of authoritarianism in Venezuela, including those who participate in the national constituent assembly as a result of today's flawed election", the statement continued.