Guaido said it was a small-scale donation given that the government has so far blocked deliveries from an aid collection point in the Colombian border town of Cucuta.
Analysts say the hyperinflation will drive more people out of the country, with the number expected to top five million by the end of the year.
In an interview with the BBC aired Tuesday, Maduro referred to Trump's government as a "gang of extremists" and blamed the United States for the crisis destabilizing his country.
Guaido says Maduro's re-election was fraudulent and as head of the opposition-led National Assembly, he has the constitutional right to invalidate the results and declare himself president until a new election is held.
According to The New York Times, Mr Maduro has blocked the opposition from importing aid, because it would greatly bolster Mr Guaido's power and standing within Venezuela.
Trump has not ruled out USA military action for Venezuela, but has not specified under what circumstances he would send in US forces.
Guaido did not specify from where aid would enter, but said the opposition would go in a convoy to safeguard the supplies. Venezuela's military last week barricaded a key bridge between Venezuela and Colombia in an apparent attempt to keep the humanitarian aid from entering.
The parliament speaker wants to oust Maduro and set up a transitional government ahead of new elections.
Most Western counties including the United States have recognised Guaido as Venezuela's president, but Maduro retains the backing of powerful nations like Russian Federation and China as well as control of state institutions including the military.
Venezuela's financial accountability authority announced a probe into Guaido's income on Monday, saying he had "allegedly. received money from worldwide and national bodies without any justification".
Two weeks ago, the regime loyalist-dominated Supreme Court barred him from leaving the country and froze his assets.
That is why "nobody would be willing to do anything for Nicolas Maduro, to sacrifice himself or to die for someone who is not willing to even attend to them or to protect them", he insisted.
Guaido warned that the military would be held responsible for the deaths of protesters. They've been reporting on how the country is in the middle of food shortages, power cuts and widespread protests, with no clarity in sight on the political situation. "It's help for many Venezuelans like my son". Maduro was inaugurated to a second term at the beginning of January after elections previous year that were boycotted by many Venezuelans and accused of being rampant with voter fraud by many in the global community. Maduro accused them of bias.