Hundreds turned out on the streets of Melbourne, Sydney, Brisbane, Canberra and Perth on Sunday following news of Venezuelan President Nicolas Maduro's capture.
Mr Maduro was transported to New York under US guard following a military offensive in Caracas sparked by months of tension between the two nations.
President Donald Trump said the US would "run the country" until a safe, proper and judicious transition, while unveiling plans to tap and sell Venezuela's substantial oil reserves.
Demonstrators took to the streets of Australia's capital cities on Sunday evening to denounce the US administration's actions.
In Sydney, protesters waved posters that read, "Hands off Venezuela" and "Down with imperialism".
But there was also jubilation from supporters of Venezuela's opposition who celebrated the fall of Mr Maduro.
Many were waving the nation's flag while draped in red, blue and yellow, and brandished photos released of the ousted leader under arrest with the word "captured" superimposed across his image.
More than 150 people packed the steps of Melbourne's Flinders Street Station, yelling "shame" when speakers said the ousted president had been "kidnapped".
They brandished banners that read, "Release Maduro now! No regime change!" and "No war for oil! Solidarity with the people of Venezuela".
One speaker said Mr Maduro had been "demonised" and rubbished claims he rigged elections and was connected to drug trafficking.
"It is the clearest cut case of outright propaganda, and its main role is to soften ordinary people to the idea of regime change in Venezuela," he told the crowd.
The anti-US protesters said they supported Venezuelans who stood for their sovereignty, and demanded the Australian government cut ties and sanction the US administration.
Federal Liberal MP Tim Wilson said the Labor government needs to speak to Australia's ambassador to the US Kevin Rudd and find out what the US administration's plans are.
"It's an extraordinary situation. It felt like watching a movie in real time," Mr Wilson told Nine's Today show on Monday.
"We want to make sure we're stepping through all of these things as a nation very cautiously."
Federal Nationals Leader David Littleproud said that while "we should be happy that an illegitimate, brutal dictator has been removed ... it is important that the sovereignty of Venezuela is respected."
"The world is looking, waiting with bated breath, at what the next move is of the Trump administration," he told Seven's Sunrise program.
"And this should be more than about oil or drugs - this should be about making returning the country of Venezuela back to its people."
Australia is home to more than 6600 Venezuelan-born residents, with about 10,000 people of Venezuelan ancestry, according to the 2021 census.
The Venezuelan Association of Australia said there would be complex emotions within the diaspora after many experienced forced separation from loved ones, exile and the long-term impacts of authoritarian rule.
"In moments like this, our shared hope remains for a free, democratic, and united Venezuela where people can live with dignity, safety and opportunity," the association said.
Prime Minister Anthony Albanese has urged all parties to support dialogue and diplomacy to prevent escalation as his government monitors the situation.
The US has previously accused Mr Maduro of running a narco-state and rigging the country's 2024 national election, claims the ousted president has denied.
Mr Maduro's government appears to still be in charge, with Vice President Delcy Rodriguez assuming the role of acting president.
Australia's SmartTraveller website has urged citizens not to travel to the Latin American country due to the unpredictable security situation.
Any residents on the ground needing help should contact the government's emergency consular assistance team.
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