With live television footage of his speech being broadcast, the 55-yearold president was suddenly seen looking upwards and was clearly startled after a number of explosions.
His wife Cilia Flores, standing next to him, also cowered as the thud of exploding airborne drones was heard. The footage then cut to hundreds of soldiers lining the streets in formation.
But they suddenly scattered for cover after several bangs.
Large bomb-proof shields were rushed in front of the startled president as security guards led him away from danger.
A defiant Mr Maduro said God, the Venezuelan people and the security services had saved him.
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“A flying object exploded near me, a big explosion. Seconds later there was a second explosion,” he said.
“That drone was coming for me but there was a shield of love.
“I am sure I will live for many more years,” he added. Mr Maduro blamed Colombia for the attack.
He added that he had “no doubt” Colombian President Juan Manuel Santos was “behind this attack”.
The Colombian government was quick to deny any involvement, saying there was “no basis” to Mr Maduro’s allegations.