The US Senate has voted to limit President Donald Trump's ability to conduct further attacks against Venezuela, sounding a note of disapproval for his expanding ambitions in the Western Hemisphere.

All Democratic senators and five Republicans voted to advance the war powers resolution on a 52-47 vote in the Republican-majority Senate.

It has virtually no chance of becoming law because Mr Trump would have to sign it if it were to pass the House.

Nevertheless, the vote is considered another sign of unease among some Republicans after the US military seized Venezuelan President Nicolás Maduro in a surprise night-time raid over the weekend.

Mr Trump's administration is now seeking to control Venezuela's oil resources and its government, but the war powers resolution would require congressional approval for any further attacks on the South American country.

Donald Trump has warned other places could face similar military action if they do not satisfy American demands. (AP: Evan Vucci)

It also comes amid escalating talk from Mr Trump and his administration officials about acquiring the Danish territory of Greenland, either by military force or through a buy-out.

Democrats have tried several times to limit Mr Trump's authority in the months that he has escalated his campaign against Venezuela, but all until now have failed.

But senators argued that now that Mr Trump has captured Mr Maduro and set his sights to other conquests such as Greenland, the vote presents the Republican-controlled Congress with an opportunity.

Republican senators Rand Paul of Kentucky, Lisa Murkowski of Alaska, Josh Hawley of Missouri, Susan Collins of Maine and Todd Young of Indiana voted in favour of the resolution.

Following the vote, Mr Trump wrote on social media that those senators "should never be elected to office again".

"It's time for Congress to assert its control over military action of this kind, and it's time to get this out of secrecy and put it in the light," said Democratic Senator Tim Kaine, who forced the vote.

Republican leaders have said they had no advance notification of the early morning raid to seize Mr Maduro and his wife, Cilia Flores, but mostly expressed satisfaction this week as Trump administration officials provided classified briefings on the operation.

Similar resolution for Greenland planned

The administration has used an evolving set of legal justifications for the months-long campaign in Central and South America, from destroying alleged drug boats under authorisations for the global fight against terrorism to seizing Mr Maduro in what was ostensibly a law enforcement operation to put him on trial in the United States.

Republican leaders have by-and-large backed Mr Trump.

"I think the president has demonstrated at least already a very strong commitment to peace through strength, especially in this hemisphere," said John Thune, who is the Republican leader in the Senate.

"I think Venezuela got that message loudly and clearly."

After Venezuela, Donald Trump has once again raised the prospect of acquiring Greenland. (Reuters: Sarah Meyssonnier)

But Democrats and a handful of Republicans have been less supportive, and are even contemplating a second resolution that would block Mr Trump from carrying out a similar operation in Greenland.

Democratic Arizona Senator Ruben Gallego said he is working on a resolution "to block Trump from invading Greenland".

"We must stop him before he invades another country on a whim," Senator Gallego wrote on X.

"No more forever wars."

Senator Kaine also said on Wednesday that a resolution on Greenland would soon be filed, in addition to Cuba, Mexico, Colombia and Nigeria.

Trump tests limits of commander-in-chief's authority

Under the Constitution, the US Congress declares war while the president serves as commander in chief.

But the congress has not formally declared war since World War II, granting presidents broad latitude to act unilaterally.

Congress attempted to rein in that authority after the Vietnam War with the War Powers Resolution, passed over Republican president Richard Nixon's veto.

The law requires presidents to notify Congress within 48 hours of deploying forces and to end military action within 60 to 90 days absent authorisation — limits that presidents of both parties have routinely stretched.

Democrats argue those limits are being pushed further than ever. Some Republicans have gone further still, contending congressional approval is unnecessary altogether.

Republican Senator Lindsey Graham of South Carolina, a close ally of Mr Trump who travelled with the president aboard Air Force One on Sunday, said he would be comfortable with Mr Trump taking over other countries without congressional approval, including Greenland.

"The commander in chief is the commander in chief. They can use military force," Senator Graham said.

AP