Venezuelan opposition leader Juan Guaido was sworn in again as National Assembly speaker following a tense stand-off outside the parliament building in Caracas.

Dissident opposition legislator Luis Parra first opened the parliament session, after being sworn in as Guaido's replacement on Sunday after Guaido was blocked from entering the building.

Guaido and supportive deputies subsequently entered the chamber after a stand-off with security forces and was then re-elected.

Parra and other pro-Maduro legislators had reportedly already left the chamber to take refuge inside a neighbouring building.