"USA diplomats will now continue that mission from other locations where they will continue to help manage the flow of humanitarian assistance to the Venezuelan people and support the democratic actors bravely resisting tyranny". The diplomats left the country on a chartered civilian aircraft.
Earlier this week, Maduro praised Story for his professional conduct.
Morales is one of a few Latin American leaders to support the embattled Maduro, whose country has been reeling from a humanitarian crisis. The subway began operating in the capital, Caracas, though not all of its stations were open.
This Sept. 12, 2008 photo shows the US embassy in Caracas, Venezuela.
The Venezuelan government disputed Pompeo's account, saying it had instructed the USA diplomats to leave.
Guaido denied the allegations at an anti-Maduro protest Tuesday.
Maduro accuses Guaido and the United States of plotting an invasion.
"The United States government, at all levels, remains firm in its resolve and support for the people of Venezuela and Interim President Juan Guaido", Pompeo added. Maduro, the incumbent president who is hanging on to power despite shortages of food, water and electricity, says he is the victim of a coup plot by the United States. Russian Federation is an ally of Maduro, but its oil interests in Venezuela have been jeopardized since the Trump administration hit PDVSA with sanctions in January.
The New York Times on Thursday quoted Palladino saying, "We hold former President Maduro and those surrounding him fully responsible for the safety and welfare of interim president Juan Guaido and his family". The U.S. Secretary of State Mike Pompeo has announced on Monday, March 11, 2019, that it will withdraw all remaining U.S. personnel from the U.S. Embassy in Caracas this week.
Associated Press writer Matthew Lee in Washington and Vladimir Isachenkov in Moscow contributed.