After a six-hour delay in releasing the results of last Sunday's poll prompted international concern, Venezuela's electoral council claimed Maduro had won with 51.21% of votes compared with 44.2% for his rival, the former diplomat Edmundo González Urrutia.
The council said that with about 80% of votes counted, Maduro had secured more than 5m compared with González's 4.4m.
Independent observers had described the election as the most arbitrary in recent years, even by the standards of an authoritarian regime that started with Maduro's mentor and predecessor, Hugo Chávez.
Critics blame Maduro for leading Venezuela into a crippling economic and social crisis, as well as turning the country into an increasingly repressive state where political opponents are routinely jailed and tortured.
'Concerns'
The election in numbers
51.2%
Maduro's share of votes, according to electoral council
4.4m Votes received by González
80%
Amount by which Venezuela's economy shrank in past decade
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