Venezuelan opposition leader Maria Corina Machado was released a few hours after being arrested by government forces on January 9 after being "violently intercepted" while leaving an opposition rally in Caracas's Chacao municipality, her party Vente Venezuela confirmed.

According to opposition sources, security forces using drones and motorcycles intercepted Machado's motorcade, with officers reportedly firing at vehicles transporting the opposition leader. The exact circumstances of the incident remain unclear. The party claimed on social media that Machado was freed after being coerced into recording a series of videos.

The detention came after Machado made her first public appearance in months, addressing hundreds of protesters who had gathered to demonstrate against President Nicolas Maduro, who is due to be sworn in for a controversial third term on January 10.

Earlier in the day, Machado had rallied supporters from atop a truck in the capital, waving a Venezuelan flag and declaring unity among Venezuelans. "Now is when the good things are coming. Glory to the brave people," she told the crowd before her detention.

The protests come amid heightened tensions in Venezuela, with the opposition challenging Maduro's claim to victory in the presidential election. Opposition leader Edmundo Gonzalez, who appeared on the ballot as Machado's replacement candidate, is recognised by the United States and other governments as Venezuela's president-elect.

Since the elections, authorities have arrested more than 2,000 people, including up to 10 Americans, whom the government accuses of plotting to overthrow Maduro. This week alone saw the arrests of a former presidential candidate, a free speech activist, and Gonzalez's son-in-law.

Turnout at the January 9 demonstrations was relatively modest, with many Venezuelans expressing fear of repression. Security forces and pro-government armed groups known as "colectivos" were deployed throughout the capital.

Before the arrest, Machado had called on supporters to remain alert for "signals" in the coming days, describing recent opposition activities as "the most important citizen movement" in Venezuela's history.

The opposition has published voting records from over 80% of electronic voting machines nationwide, which they say show Gonzalez defeated Maduro by a more than two-to-one margin. These results have been validated by United Nations and Carter Center observers, though Venezuela's regime-aligned National Electoral Council (CNE) declared Maduro the winner without releasing the tallies to back up his victory claim.

González reported on January 7 that his son-in-law was kidnapped by hooded men in the capital as he was taking his children to school. His whereabouts remain unknown as of today.