Venezuela's opposition leader Juan Guaidó has told tens of thousands of his supporters that humanitarian aid will be brought in, despite opposition from President Nicolás Maduro, the BBC reports. 

He also told a rally in Caracas that "the usurper [Maduro] has to leave".

Mr Guaidó told his supporters in the capital that humanitarian aid would be brought into Venezuela on 23 February.

"We have almost 300,000 Venezuelans who will die if the aid doesn't enter. There are almost two million whose health is at risk."

Last week, the first lorries with US humanitarian aid for Venezuela arrived in the Colombian border city of Cúcuta.

The vehicles were parked near the Tienditas bridge, which remains blocked by Venezuelan troops.

Mr Maduro earlier told the BBC he would not allow aid in as it was a way for the US to justify an intervention.