BOGOTÁ, Colombia—Antonio Ledezma, a top opposition figure who led protests against President Nicolás Maduro’s government, fled house arrest in Caracas on Friday and crossed the border into neighboring Colombia, officials said.

Mr. Ledezma said he planned to coordinate opposition to Mr. Maduro’s government from abroad, saying it was “killing Venezuela with hunger,” a reference to a declining economy and shortages of food and medicine that have especially devastated the poor.

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