A senior Colombian official speaking to AFP on condition of anonymity said Maduro's accusation was "baseless".
Reverol gave little detail about the six people detained in connection with the attack except to say that two of them have been formally charged.
Maduro claimed the plotters had been planning to bomb the Miraflores presidential palace and other government buildings.
One of the drones flew over the presidential stage with the intention of being detonated by the attackers, but Reverol said the authorities caused it to lose control and detonate outside the area the attackers targeted.
Reverol said he doesn't rule out further arrests. "In the next hours there could be more arrests".
Moscow sided with Maduro's regime after his government faced global isolation when close to 130 people were killed in anti-regime protests past year. One took part in 2014 protests that rocked the nation as it descended into an economic crisis that is now worse than the Great Depression.
Venezuela's Minister of Defense Vladimir Padrino Lopez read out a statement from the Armed Forces expressing "unconditional and unrestricted loyalty to our commander in chief".
Nearby residents told The Associated Press that they saw a drone crash into a building and explode blocks from where Maduro was speaking in Caracas.
"I am fine, I am alive, and after this attack I'm more determined than ever to follow the path of the revolution", he said.
Another witness, Mairum Gonzalez, described running in panic to her fifth-floor balcony, where she heard the second explosion and saw smoke rising.
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"It was so strong the building shook", she said.
Officials say drones loaded with explosives ignited near Maduro Saturday while he spoke at an open-air military ceremony in the capital of Caracas. He thought it might be a pyrotechnics display in honour of the event.
Within seconds, Maduro said he heard a second blast and pandemonium broke out. Then, the crowd on the sidelines begins to flee, spurring the nearby soldiers to break rank and run away as well.
"They tried to assassinate me today", Maduro said on Saturday evening, claiming that "I have no doubt that everything is pointing at the Venezuelan right, the extreme right in alliance with the Colombian extreme right".
So far, Maduro has offered no proof to back up the charges of Colombian or USA involvement.
Santos, who is due to hand over power to the hardline right-winger and vocal Maduro critic Ivan Duque on Tuesday, had said this week that the Venezuelan "regime has to fall" and that he could "see it happening in the near future".
Apparently in response, Bolton said, "If the government of Venezuela has hard information that they want to present to us that would show a potential violation of USA criminal law, we'll take a serious look at it".
The Broad Front, a coalition of opposition groups in Venezuela, accused the government of making an allegation without proof.
This was the first attempt on Maduro's life, though in June 2017, Oscar Perez, an investigator with the Venezuelan equivalent of the Federal Bureau of Investigation, stole a helicopter, flew over the capital and hurled grenades at the Supreme Court. The AP could not independently verify the authenticity of the message.