Rafael Acosta, 49, was among six policemen and soldiers arrested on Wednesday.
They were detained weeks after a failed military uprising against Mr Maduro.
Facing charges of treason and sedition, Mr Acosta appeared in court on Friday, but fainted before proceedings began.
He was rushed to a military hospital in the capital, Caracas, but died in the early hours of Saturday morning, Venezuela's defence ministry said in a statement.
"Despite providing him with the appropriate medical attention, he died," the statement said.
Opposition leader Juan Guaidó, who orchestrated the attempted uprising against Mr Maduro on 30 April, claimed in a video that Mr Acosta was "savagely and brutally tortured".
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