PUERTO ORDAZ, Venezuela — A pro-government lawmaking body installed by President Nicolas Maduro voted on Tuesday to strip the opposition leader Juan Guaidó of parliamentary immunity, paving the way for his potential arrest.

The move by the Constituent Assembly represents the government’s latest effort to raise the pressure on Mr. Guaidó, who declared himself interim president in January in the biggest challenge that Mr. Maduro has faced in six years in office.

In recent weeks, the government has barred Mr. Guaidó from traveling, frozen his bank accounts, begun investigating him on terrorism accusations, and prohibited him from running for office.

But thus far the government has stopped short of detaining Mr. Guaidó. The United States has repeatedly said that any attack on Mr. Guaidó would draw a severe reaction.