The chopper had left the Venezuelan capital in the morning headed for San Carlos in the country's northwest when it went down in a mountainous area of the El Hatillo municipality, the defense ministry said in a statement.
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On Twitter, Maduro mourned the loss of "seven worthy officers of the country."
Venezuelan people! Today,#4May, in the morning hours, a helicopter of our #FANB rushed to land and 7 worthy officers of the Homeland died. I deeply regret this incident and express my heartfelt condolences to their family and friends.
— Nicolás Maduro (@maduro_en) May 5, 2019
They included two majors, three captains and two lieutenant colonels.
The defense ministry was launching an investigation into the crash.
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Maduro was in San Carlos on Saturday, leading military exercises with top brass and more than 5,000 troops.
It was a show of strength against opposition leader Juan Guaido, whose attempt to launch a military uprising earlier in the week had failed.
Guaido was continuing his efforts to persuade the armed forces to abandon Maduro.
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