"We have been prepared for any attempted attack against our country. Venezuela is a land of historic warriors. The people and the military must go hand in hand," Cabello told security forces at an event in the northern state of Yaracuy, Xinhua reported.
Cabello noted that a recent poll showed that an overwhelming 97 percent of Venezuelans oppose any "violent action" against the South American country.
The official emphasized the importance of community militia units in each "peace quadrant," adding that each quadrant should incorporate a team whose main mission is to provide civil protection and organize local residents in case of an attack.
Relations between Caracas and Washington have become increasingly tense, with the US side deploying several warships near Venezuelan waters under the stated aim of combating Latin American drug cartels.
In response to what the Venezuelan government described as foreign aggressions, Venezuelan President Nicolas Maduro signed earlier this week a decree on "State of External Commotion," granting him additional security powers in case of a military incursion into the country.