Maduro said on Twitter the president had met with members of the diplomatic corps and told them of Venezuela’s “extreme indignation” over the violence, according to the state news agency, known as Telesur.
The two deaths happened on Friday night during a protest in the southwestern Colombian town of Cucuta where Venezuelan migrants have taken refuge, and where the number of Venezuelans without legal status has doubled to at least 100,000 in the past year.
Venezuela’s government has long complained about Colombia’s deportations of Venezuelan migrants to their country, which are ongoing.
In a separate incident on Friday, suspected Colombian government agents also released 41 people held in custody in Nariño province for alleged extortion and drug trafficking.
Venezuelan activists in Colombia have disputed Colombian accusations that people who fled from Venezuela are active criminals.
The conflict pitting Venezuelans against the Maduro government has resulted in numerous clashes, as well as violent clashes between migrants and police, in recent months.