Information Minister Jorge Rodriguez said the explosions were an attempted attack on President Maduro. "The investigation clearly reveals they came from drone-like devices that carried explosives".
AP quoted Rodriguez as saying Maduro was safe and unharmed, though seven others were injured.
Venezuela's President Nicolas Maduro watches a military parade, alongside his Defense Minister Vladimir Padrino Lopez, behind, at Fort Tiuna in Caracas, Venezuela.
The explosions forced the president to cut a speech short as hundreds of soldiers broke rank in fear.
Several drones armed with explosives were detonated near Venezuelan President Nicolas Maduro in Caracas Saturday in what a government official termed an "attempt against the president".
Hi wife Cilia Flores is also on the stage and jolts as she looks up into the air.
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The transmission was then cut off. The soldiers lined up in ranks then begin running.
Writing on Twitter earlier in the day, Mr Maduro said: "I congratulate, in the framework of the 81st anniversary of the GNB, the men and women who make up this glorious component".
Maduro, according to the wire service's account of events, was giving a speech in the capital of Caracas during a celebration of the National Guard's 81st anniversary.
But firefighters at the scene of the blast disputed the government's version of events.
Mr. Maduro, who has governed a country suffering from hyperinflation, hunger and rampant violence, is deeply unpopular, polls show.