Nicolas Maduro has been sworn in as Venezuelan president, succeeding the late Hugo Chavez who died of cancer in March after ruling for 14 years, BBC News reported.

During his speech, a man grabbed the microphone and was dragged away, after which Maduro criticised security saying he could have been shot.

Thousands gathered on the streets of Caracas to show their support for Maduro and to celebrate independence. The ceremony follows a decision to audit votes cast in Sunday's election.

Maduro was elected president ahead of opposition leader Henrique Capriles by 1.5% of the vote. Capriles, who believed there were voting irregularities, says he accepts the electoral audit.

Opposition supporters protested against Maduro's inauguration by banging on pots and pans, and playing salsa music.