Angra dos Reis to São Mateus is about 539 road miles (867 km): roughly 13 h 53 min at the wheel if you don't stop.
- Level 4: Do Not Travel in Brazil: informal housing developments (favelas, vilas, comunidades or conglomerados).
Full advisory: Brazil. Advisory issued: Brazil August 31, 2026; checked October 10, 2026.
On the roads, the State Department says:
- Brazil: “Use caution when walking or driving at night.”
| Total distance | 539 mi (867 km) |
|---|---|
| Time at the wheel, no stops | 13 h 53 min |
| Main roads, in order | BR-101 → RJ-228 |
| States on the route | Rio de Janeiro, Espírito Santo |
| Fuel estimate (car at 25 mpg) | about 21.6 gal; actual use varies by vehicle and traffic |
| Stops listed below | 8 |
The Angra dos Reis–São Mateus drive in a few lines
BR-101 (493 mi) and RJ-228 (43 mi) carry about 99% of the 539 miles. It runs through 2 states: Rio de Janeiro, Espírito Santo. None of the 8 stops below is right on the road, so plan each as a short side trip.
Angra dos Reis to São Mateus: the road sequence
| Road | Route miles (from–to) | Length, mi | State |
|---|---|---|---|
| local roads | 0–2 | 2 | |
| BR-101 | 2–288 | 286 | Rio de Janeiro |
| RJ-228 | 288–331 | 43 | Rio de Janeiro, Espírito Santo |
| BR-101 | 331–538 | 207 | Espírito Santo |
| local roads | 538–539 | 1 | Espírito Santo |
- Mile 302 of this route: Rio de Janeiro → Espírito Santo (state line)
Stops between Angra dos Reis and São Mateus
- Nature and outdoors: Pedra Branca State Park (mile 71), Serra do Barbosão Municipal Nature Park (mile 130), Itabira Natural Monument (mile 334), Fonte Grande State Park (mile 408)
- Museums and history: Ponte do Guandu (mile 60), Panteão de Caxias (mile 94), Museu da Imagem e do Som do Rio de Janeiro (mile 98), Itabira Natural Monument (mile 334)
Ponte do Guandu
Also known as Ponte dos Jesuítas, Ponte do Guandu in Santa Cruz, in Rio de Janeiro's West Zone, was a bridge-dam completed in 1752 to control floodwaters and link local farms.
Pedra Branca State Park
In the state of Rio de Janeiro, Pedra Branca State Park ranks among the world's largest urban nature parks.
Panteão de Caxias
On Avenida Presidente Vargas in Rio de Janeiro, the Panteão de Caxias is a monument built to hold the remains of the Duke of Caxias, patron of the Brazilian army, and his wife.
Museu da Imagem e do Som do Rio de Janeiro
Opened on September 3, 1965, for Rio's fourth centenary, the Museu da Imagem e do Som do Rio de Janeiro is a state museum dedicated to carioca culture.
Serra do Barbosão Municipal Nature Park
Serra do Barbosão Municipal Nature Park is a protected area in Rio de Janeiro state, set aside by the municipality to safeguard a stretch of Atlantic Forest.
Itabira Natural Monument
Itabira Natural Monument is a protected area in the state of Espírito Santo, Brazil, listed in the natural monument category.
Fonte Grande State Park
Fonte Grande State Park is a state-protected park in the Brazilian state of Espírito Santo.
Buddha of Ibiraçu
Beside the BR-101 highway in Ibiraçu, a 35-meter Buddha statue rises at the Morro da Vargem Zen monastery. The giant figure, part of the monastery grounds, was officially inaugurated in August 2021.
In São Mateus itself
St. Matthew Cathedral, São Mateus
St. Matthew Cathedral in the municipality of São Mateus is a Catholic church regarded as a reference for modern religious art in Brazil.
Igreja Velha
Listed as historic heritage of São Mateus in Espírito Santo, Igreja Velha was planned as the town's biggest church, but construction was never finished for lack of municipal funds.
Museu Eclesiástico de Arte Sacra
Set in a former seminary chapel in São Mateus, Espírito Santo, this museum of sacred art was founded by Bishop Dom Aldo Gerna.
More drives to São Mateus
- Rio das Ostras to São Mateus
- Nova Friburgo to São Mateus
- Conselheiro Lafaiete to São Mateus
- Teresópolis to São Mateus
- Juiz de Fora to São Mateus
- Sete Lagoas to São Mateus
From Angra dos Reis to other places in Brazil
- Angra dos Reis to Caraguatatuba
- Angra dos Reis to Bragança Paulista
- Angra dos Reis to Paranapiacaba
- Angra dos Reis to Cubatão
- Angra dos Reis to Itu
- Angra dos Reis to Itanhaém
Frequently asked questions
How long is the drive from Angra dos Reis to São Mateus?
About 13 h 53 min of driving without stops, over 539 miles.
What is the driving distance from Angra dos Reis to São Mateus?
About 539 miles (867 km) on the Wayro route. Other map services may show a few miles more or less, depending on where they start and end in each city.
What does the U.S. travel advisory say about the Angra dos Reis to São Mateus drive?
The U.S. State Department rates Brazil Level 2: Exercise Increased Caution. Read the full advisory before you go.
Which highways go from Angra dos Reis to São Mateus?
In order: BR-101 and RJ-228. The road-by-road table above shows the route miles for each one.
Where can you stop on the way from Angra dos Reis to São Mateus?
Closest to the road: Ponte do Guandu (historic bridge, mile 60, 1 mi from the route); Serra do Barbosão Municipal Nature Park (protected area, mile 130, 1 mi from the route); Buddha of Ibiraçu (statue, mile 444, 2 mi from the route). All stops are described above.
How we put this guide together
Wayro calculates the route from OpenStreetMap road data; mile numbers are positions along this route, not highway markers, and "from the route" distances are straight-line, so the real detour depends on access roads. Stops are chosen from parks, natural sites, museums, historic sites and attractions close to the route: at least one strong stop for each stretch of the drive, then the best-known places nearest the road, up to nine in all. Places that are closed, private or not open to visitors are removed. Place descriptions are written by the Wayro team from official park, museum, tourism and government websites and other published sources. Safety levels and entry rules were checked against the U.S. Department of State on October 10, 2026. Conditions change, so check the linked sources before you travel.
Route data © OpenStreetMap contributors.