Gilber Caro, who was detained in April, was freed on Monday, said the opposition-controlled National Assembly in a Twitter message.
Caro had previously spent 18 months in prison for treason and weapons charges between 2017 and 2018. He was released in June last year.
The lawmaker is from the same party of opposition figure Juan Guaido, who unilaterally declared himself “interim president” of Venezuela in January.
Guaido, who was recognized by the US and his western allies, orchestrated a coup against the government of Maduro on April 30.
Following the putsch that was quickly petered out by the army, Venezuela’s top court ordered the prosecution of several lawmakers for high treason and conspiracy through the supporting of a coup attempt.
Guaido’s “chief of staff” Roberto Marrero and defunct National Assembly Vice President Edgar Zambrano are among the detainees.