The rally, organised by the Democratic Front for the Liberation of Palestine (DFLP), was held outside the UN's office in Gaza City.
Demonstrators chanted pro-Maduro slogans, such as, "Greetings from the revolutionaries … to the symbol of freedom".
Abu Zarifa also hailed the Venezuelan people for "rejecting U.S. interference in their internal affairs".
Venezuela has been rocked by protests since Jan. 10, when Maduro was sworn in for a second term following an election boycotted by the opposition.
Last week, Juan Guaido, leader of Venezuela's opposition-led National Assembly, abruptly declared himself the country's acting president.
U.S. President Donald Trump quickly recognized Guaido as interim leader, with several countries following suit, including Argentina, Canada, Chile, Colombia, Costa Rica, Ecuador, Guatemala, Panama and Paraguay.
Bolivia and Mexico, meanwhile, both still recognize Maduro as head of state.
Russia and China, for their part, both oppose Washington's support for Guaido, condemning what they describe as "foreign interference" in Venezuela's domestic affairs.
Ankara and Tehran have also both thrown their support behind Maduro.