Pelosi, in an interview to air Sunday on CBS' "Face the Nation, " said Trump "made a mistake" by live-tweeting his criticism of Marie Yovanovitch, the US ambassador to Ukraine he ousted, during her public testimony Friday.
She told the lawmakers her sudden removal had played into the hands of "shady interests the world over" with unsafe intentions toward the United States.
Critics accuse Trump of abusing his power by pressuring Zelenskiy to conduct an investigation into his political rivals while holding up badly needed military aid and dangling a possible high-profile visit to the White House for the new Ukrainian leader.
"I just didn't see that there would be any advantage to publicly taking on a fight with those who were criticizing me in the United States", she said.
Her removal is one of several events at the center of the impeachment effort.
"These events should concern everyone in this room", the diplomat testified in opening remarks. He said good, hard-working Americans "don't give a damn about that stuff".
The daughter of immigrants who fled the former Soviet Union and Nazi German, she described a 33-year career, including three tours as an ambassador to some of the world's tougher postings, before arriving in Ukraine in 2016. She was forced out last May.
Trump has denied any wrongdoing. Trump "should not frivolously throw out insults, but that's what he does", she said.
Republicans like Nunes have derided the impeachment inquiry as a "coup".
It's a dramatic, complicated story, and the Democrats' challenge is to capture voter attention about the significance of Trump's interactions with a distant country. "These hearings should not be occurring at all", he said. "It's bribery", Pelosi said.
When she saw in print what the president had said about her, she said, a friend told her all the color drained from her face.
Democrat Adam Schiff, chairman of the House Intelligence Committee, said Trump's attacks were intimidation, "part of a pattern to obstruct justice".
Nunes read that transcript aloud. In it, Trump mentioned his experience with the Miss Universe pageant in Ukraine and invited Zelenskiy to the White House.
Bale says prefers playing for Wales over Real
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Crosby out at least six weeks for Penguins after core muscle fix
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Todd Phillips Is Open to Making a 'Joker' Sequel
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In the now-infamous July phone call, President Trump asked Ukrainian President Volodymyr Zelensky to look into a Crowdstrike server that was allegedly being held in Ukraine and also look into former Vice President Joe Biden and his son's business dealings in Ukraine after it emerged that Joe Biden had pressured Ukraine to fire its top prosecutor who was investigating a Ukrainian natural gas company where Hunter Biden held a lucrative role on the board.
"Ambassador Sondland responded that President Trump cares more about the investigations of Biden, which Giuliani was pressing for", Mr Taylor testified, referring to Mr Trump's personal lawyer Rudy Giuliani.
The first hearing is scheduled for Friday at 9 a.m. EST.
Yovanovitch raised concerns about the USA media reports with Gordon Sondland, the US ambassador to the European Union. The conversation was loud enough to be overheard.
Trump told reporters after the hearing that he knew "nothing" about the call with Sondland.
Yovanovitch and other officials now testifying publicly are providing accounts that Democrats are relying on to make the case that the president's behavior was impeachable.
Americans are deeply entrenched in two camps over impeachment, resulting in a mounting political battle that will further test the nation in one of the most polarizing eras of modern times.
Speaker of the House Nancy Pelosi said testimony provided Wednesday by two witnesses, including a U.S. envoy to Ukraine appointed by Trump himself, was damning because it "corroborated evidence of bribery" by Trump in his actions regarding Ukraine.
Trump repeatedly assails the proceedings as a "hoax" and a "sham" and says he did nothing wrong.
Democrats in the US House of Representatives plunge into a formal impeachment inquiry into President Donald Trump on Wednesday (25 September), a move that could dramatically change the 2020 presidential race.
In the phone conversation, Trump asked for a "favor", according to an account provided by the White House.
In a speech Friday night, Attorney General William Barr said congressional Democrats were pursuing "scores of parallel investigations through an avalanche of subpoenas" that are "designed to incapacitate the executive branch".