According to a BBC report, Maduro is unharmed after the explosive drones went off while he was giving a speech in the capital Caracas.
The attack was an attempt on Maduro's life, which injured seven soldiers, Communication Minister Jorgi Rodriguez was quoted as saying.
Later in a national address, Maduro called the attack an "assassination attempt."
He blamed the far-right wing factions for the attack, saying the perpetrators were linked to Colombia and the United States.
Several suspects, who Madura said were responsible for the attack, were arrested.
Meanwhile, a group calling itself Soldiers in T-shirts claimed responsibility for the attack through social media.
In June 2017, a former police officer, Oscar Perez hijacked a police helicopter and attacked Supreme Court and Interior Ministry premises with hand grenades.