State television's transmission then ended without explanation.
As Maduro spoke of Venezuela's economy, the audio suddenly went off, and he and others on the podium suddenly looked up, startled.
Drones loaded with explosives were apparently detonated near a military event in Caracas where Maduro was speaking at a celebration honoring the 81st anniversary of the country's National Guard.
Maduro was unharmed during the attack, but seven national guard troops were injured, according to Venezuelan information minister Jorge Rodríguez.
He was standing next to his wife Cilia Flores and several high ranking military officials for the event broadcast on radio and television.
"All of the work we have done immediately after has allowed us to establish with evidence that it was an assassination attempt", Mr. Rodriguez said in a brief televised appearance.
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Mr Rodriguez said the injured soldiers were being treated in hospitals while the president was meeting his ministers and military commanders.
Local media are reporting the explosion came from a nearby residential building.
However, firefighters near the scene are disputing the government's version of events. Writing on Twitter, he said: "We strongly repudiate a new aggression and cowardly attack on Nicolas Maduro and the Bolivarian people".
Mr. Maduro, who has governed a country suffering from hyperinflation, hunger and rampant violence, is deeply unpopular, polls show.
The explosions forced the president to cut a speech short as hundreds of soldiers broke rank in fear.