The moves threaten to deepen the country's political crisis as opposition lawmakers accuse the government's ruling part of using the alleged attack to clamp down on the opposition.
Video circulating Tuesday on social media showed Venezuela's political police arresting Requesens, a 29-year-old deputy in the opposition-controlled National Assembly. Supporters say he was kidnapped from his apartment.
On Wednesday, the supreme court ordered the arrest of Borges, accusing him of "flagrant crimes," including public incitement, treason to the fatherland and the attempted homicide against Maduro.
The head of Venezuela's pro-government constitutional assembly said he would have the body take up a proposal to strip both lawmakers of their immunity protections, drawing cries from anti-government lawmakers that such a move would be unconstitutional.