Venezuelan President Nicolas Maduro blasted Donald Trump on Friday after a fresh round of US sanctions and strong condemnation of his socialist government from the US leader.

"Enough meddling ... Go home, Donald Trump. Get out of Venezuela," Maduro thundered in a speech carried on live TV. "Get your dirty hands out of here."

The Trump administration imposed sanctions on the chief judge and seven other members of Venezuela's Supreme Court on Thursday as punishment for annulling the opposition-led Congress in a series of rulings this year.

The new sanctions package was aimed at stepping up pressure on Maduro and his loyalists following a crackdown on street protests.

At the White House on Thursday, Trump expressed dismay at how once-booming Venezuela was now mired in poverty, saying "it's been unbelievably poorly run" and calling the humanitarian situation "a disgrace to humanity."

The Venezuela statement also accused Washington of financing the opposition while ignoring problems at home like income inequality and rights violations.