Nicolás Maduro Moros was born on 23 November 1962 in Caracas, Venezuela, into a working-class family.
His father, Nicolás Maduro García, who was a prominent trade union leader, died in a motor vehicle accident on 22 April 1989. His mother, Teresa de Jesús Moros, was born in Cúcuta, a Colombian border town at the boundary with Venezuela on "the 1st of June of 1929, as it appears in the National Registry of Colombia". He was born into a leftist family and "militant dreamer of the Movimiento Electoral del Pueblo (MEP)". Maduro was raised in Calle 14, a street in Los Jardines, El Valle, a working-class neighborhood on the western outskirts of Caracas. The only male of four siblings, he had "three sisters, María Teresa, Josefina, and Anita".
Maduro was raised as a Roman Catholic, although in 2012 it was reported that he was a follower of Indian guru Sathya Sai Baba and previously visited the guru in India in 2005. Racially, Maduro has indicated that he identifies as mestizo ("mixed [race]"), stating that he includes as a part of his mestizaje ("racial mixture") admixture from the Indigenous peoples of the Americas and Africans. He stated in a 2013 interview that "my grandparents were Jewish, from a Sephardic Moorish background, and converted to Catholicism in Venezuela".
Maduro has been married twice. His first marriage was to Adriana Guerra Angulo, with whom he had his only son, Nicolás Maduro Guerra, also known as "Nicolasito", who was appointed to several senior government posts (Chief of the Presidency's Special Inspectors Body, head of the National Film School, and a seat in the National Assembly). He later married Cilia Flores, a lawyer and politician who replaced Maduro as President of the National Assembly in August 2006, when he resigned to become Minister of Foreign Affairs, becoming the first woman to serve as President of the National Assembly. The two had been in a romantic relationship since the 1990s when Flores was Hugo Chávez's lawyer following the 1992 Venezuelan coup d'état attempts and were married in July 2013 months after Maduro became president. While they have no children together, Maduro has three step-children from his wife's first marriage to Walter Ramón Gavidia; Walter Jacob, Yoswel, and Yosser.
Maduro is a fan of John Lennon's music and his campaigns for peace and love. Maduro claims to have been inspired by music and counter-culture of 1960s and 70s, mentioning also Robert Plant and Led Zeppelin.