Caracas, Venezuela - Nicolas Maduro's congressman son called Sunday for Venezuelans to take to the streets following his father's ousting by US forces and transfer to a New York jail.

"You will see us in the streets, you will see us by people's sides, you will see us fly the flag of dignity," Nicolas Maduro Guerra (35) said in a defiant audio message shared on social media.

His aides confirmed the authenticity of the recording to AFP.

"They want us to appear weak but we will not show weakness," said Maduro Guerra, who is one of six people, along with his father and stepmother Cilia Flores, accused of "narcoterrorism" by US authorities.

The seamless execution of the operation to grab Venezuela's leader from his hiding place in the capital Caracas and fly him out of the country has led to speculation that the socialist firebrand was betrayed by someone within his inner circle.

Echoing those rumors, his son said, "History will tell who the traitors were, history will reveal it. We will see."

Maduro Guerra is the only biological son of the ousted president, who later adopted the three children of his second wife, Flores.

He expressed confidence that "chavismo" – the anti-imperialist, socialist movement founded by Venezuela's charismatic late leader Hugo Chavez – would survive.

Some Maduro supporters were seen Sunday demonstrating in the streets of Caracas, waving flags and holding up posters showing the ousted leader.

Within hours of being seized by US commandos in Saturday's pre-dawn attack, Maduro (63) and Flores (69) were sitting in a New York jail.

Maduro is scheduled to appear before a federal judge in New York at noon on Monday to be formally notified about the charges against him.

His deputy Delcy Rodriguez has been appointed acting president of Venezuela.