Jorge Arreaza, Venezuela's Minister of the People's Power for Foreign Affairs, called upon the council to adopt a resolution rejecting the use of force, or the threat of such use, against his country, during a meeting attended by almost 40 member states of the UN.
Venezuela has been struck by a humanitarian crisis that has left millions in poverty amid chronic shortages of basic necessities such as food and medication.
Maduro has accused the United States of using aid as a political tool aimed at overthrowing him, and blames USA sanctions for the economic turmoil.
Russian Federation has backed Maduro, with Patrushev condemning the United States for "showing sarcasm and arrogance towards the Venezuelan people".
The US is "preparing for a military invasion" in Venezuela, Nikolai Patrushev told Russian media on Tuesday. "For democracy to return and for Venezuela to rebuild-Maduro must go #VenezuelaLibre" Pence tweeted Wednesday afternoon.
According to the BBC, Maduro said Venezuela would not be accepting the aid because it has "never been, nor are we, a country of beggars".
Major health-care system changes to be unveiled Tuesday
It has already been dubbed the "super-agency", by critics who fear the reforms will lead to increased privatization. The government tabled proposed legislation called the People's Health Care Act on Tuesday to enact the changes.
The U.S. draft asks U.N. Secretary-General Antonio Guterres to help ensure there is a free, fair and credible presidential election with worldwide observers.
The US-drafted measure "stresses the importance of ensuring the security" of all lawmakers and opposition members, but a reference in a previous draft expressing "full support" for the National Assembly was dropped.
Pence's appearance before the Lima Group - a 14-nation coalition of mostly conservative Latin American nations and Canada that has joined together to pressure Maduro - comes two days after a US -backed effort to deliver humanitarian across the border from Colombia ended in violence over the weekend.
At the Colombian border, new clashes left several injured.
The humanitarian relief was also was meant to demonstrate the leadership of Guaido, 35, who claims the constitution makes him the rightful leader because autocratic President Nicolas Maduro stole last year's election. Belandria has been recognized as Venezuela's top diplomat by Bolsonaro's government.
Russian Ambassador Vassily Nebenzia, whose country backs the Maduro government and opposes any interference in a country's internal affairs, said it is "perfectly clear" that Washington's sole aim in creating Saturday's "humanitarian show" was "not resolving the problems of Venezuela, not caring for the people, but regime change, including with threats to do so via foreign intervention".