In a televised address on Tuesday, president Maduro gave Todd Robinson and his deputy, Brian Naranjo, 48 hours to leave the country.
Tensions have mounted mount between the two countries following Maduro’s victory in last Sunday's presidential elections. The trump administration has branded the election "a sham".
Robinson is a career diplomat who previously served as U.S. ambassador to Guatemala.
Venezuela and the US haven’t exchanged ambassadors since 2010. There was no immediate reaction from Robinson or the US embassy in Caracas to news of the expulsions.
