Maduro, who has accused the US of trying to overthrow him to gain control over Venezuela's oil, lashed out at Pompeo in response to the announcement.
He did not provide further details of how Iran was helping, noting he should maintain “silence since we are in a war.”
Iran in May supplied gasoline to Venezuela to ease chronic shortages, triggering alarm bells in Washington as the two countries expand trade relations amid efforts to undermine US sanctions
Maduro's government says the United States is trying to seize Venezuela's oil and calls the US measures illegal persecution that heap suffering on the Venezuelan people.
"Donald Trump is the direct chief of this invasion," Maduro said in televised comments, after the video of Denman was broadcast.
US indicted socialist Venezuelan president for narcotics operation with terrorists
The United States, along with some 50 other nations, has recognized Guaido as Venezuela's legitimate head-of-state since last January.
"Brave legislators today literally opened the doors of democracy," Guaido said in an afternoon meeting of lawmakers at a meeting hall in eastern Caracas.
Venezuela officially severed diplomatic ties with Israel in 2009 in the aftermath of the 2008-2009 Gaza War.