Plan on about 7 h 28 min of driving for the 318-mile (511 km) trip from Belo Horizonte to Taubaté, before any stops.
- 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: “Driving on Brazil’s roads poses significant risks.”
| Distance by road | 318 mi (511 km) |
|---|---|
| Driving time, no stops | 7 h 28 min |
| Main roads, in order | BR-381 → BR-262 → BR-459 → MG-173 → SP-042 → SP-046 → SP-123 |
| States on the route | Minas Gerais, São Paulo |
| Fuel estimate (car at 25 mpg) | about 12.7 gal; actual use varies by vehicle and traffic |
| Stops listed below | 7 |
On the road from Belo Horizonte to Taubaté
BR-381 (226 mi) and MG-173 (37 mi) carry about 83% of the 318 miles. It runs through 2 states: Minas Gerais, São Paulo. Of the 7 stops listed below, 2 are within a mile of the road.
The route from Belo Horizonte to Taubaté, road by road
| Road | Route miles (from–to) | Length, mi | State |
|---|---|---|---|
| local roads | 0–7 | 7 | Minas Gerais |
| BR-381 | 7–16 | 9 | Minas Gerais |
| BR-262 | 16–21 | 5 | Minas Gerais |
| BR-381 | 21–238 | 217 | Minas Gerais |
| BR-459 | 238–246 | 8 | Minas Gerais |
| MG-173 | 246–278 | 32 | Minas Gerais |
| SP-042 | 278–283 | 5 | Minas Gerais, São Paulo |
| MG-173 | 283–288 | 5 | São Paulo, Minas Gerais |
| connecting roads | 288–295 | 7 | Minas Gerais, São Paulo |
| SP-046 | 295–299 | 4 | São Paulo |
| SP-123 | 299–309 | 10 | São Paulo |
| local roads | 309–318 | 9 | São Paulo |
- Mile 279 of this route: Minas Gerais → São Paulo (state line)
- Mile 284 of this route: São Paulo → Minas Gerais (state line)
- Mile 290 of this route: Minas Gerais → São Paulo (state line)
Stops between Belo Horizonte and Taubaté
- Right off the route (under 1 mile): Cachoeira dos Pilões (mile 258), Museu Arqueológico, Histórico, Cultural e Ambiental de Conceição dos Ouros (mile 259)
- Nature and outdoors: Serra do Rola-Moça State Park (mile 8), Cachoeira dos Pilões (mile 258), Cachoeira das Três Cruzes (mile 263), Mananciais de Campos do Jordão State Park (mile 298)
- Museums and history: Casa de Cacos (mile 12), Nair Mendes Moreira House of Culture (mile 12), Museu Arqueológico, Histórico, Cultural e Ambiental de Conceição dos Ouros (mile 259)
Serra do Rola-Moça State Park
On the edge of metropolitan Belo Horizonte, Serra do Rola-Moça State Park protects rugged ridges of the Espinhaço range where cerrado savanna meets Atlantic Forest.
Casa de Cacos
Casa de Cacos in Contagem is a museum and an example of fantastic architecture, built and decorated entirely by geologist Carlos Luís de Almeida and considered the only one of its kind in Brazil.
Nair Mendes Moreira House of Culture
Known locally as Casa do Registro, the Casa da Cultura Nair Mendes Moreira is an 18th-century house in Contagem. Local tradition links it to a Portuguese Crown post that counted goods and checked tax payments.
Cachoeira dos Pilões
Also called Prainha dos Pilões, Cachoeira dos Pilões is a waterfall in Conceição dos Ouros, southern Minas Gerais, recorded in the municipal heritage inventory as a natural landscape ensemble.
Museu Arqueológico, Histórico, Cultural e Ambiental de Conceição dos Ouros
Known locally as the Museu do Índio, this museum in Conceição dos Ouros, southern Minas Gerais, gathers archaeological, historical, cultural, and environmental material on human settlement in the area.
Cachoeira das Três Cruzes
Cachoeira das Três Cruzes is a waterfall in the rural Três Cruzes area of Conceição dos Ouros, southern Minas Gerais, listed among the municipality's main natural attractions.
Mananciais de Campos do Jordão State Park
Mananciais de Campos do Jordão State Park is a protected state park in the state of São Paulo, Brazil.
Arriving in Taubaté
Basilica of the Good Lord Jesus, Tremembé
Locally called the Basilica of Tremembé, this Catholic church in Tremembé, São Paulo, keeps a wooden carved image of the Good Lord Jesus, a significant religious artifact for the Church.
Museu Monteiro Lobato
Taubaté's tribute to children's author Monteiro Lobato dates to 1958. The museum occupies the grounds known as the Sítio do Picapau Amarelo, with a historic main house and exhibitions.
Museu Mazzaropi
On the grounds of Amácio Mazzaropi's former studio in Taubaté, a museum honors the comedian and filmmaker with photos, furniture, props and equipment his PAM Filmes used from 1950 to 1980.
More drives to Taubaté
- São Paulo to Taubaté
- Jundiaí to Taubaté
- Campinas to Taubaté
- Ribeirão Preto to Taubaté
- Bauru to Taubaté
- Franca to Taubaté
From Belo Horizonte to other places in Brazil
- Belo Horizonte to Conselheiro Lafaiete
- Belo Horizonte to Juiz de Fora
- Belo Horizonte to Muriaé
- Belo Horizonte to Passos
- Belo Horizonte to Araxá
- Belo Horizonte to Itaperuna
Frequently asked questions
How long is the drive from Belo Horizonte to Taubaté?
About 7 h 28 min of driving without stops, over 318 miles.
What is the driving distance from Belo Horizonte to Taubaté?
About 318 miles (511 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 Belo Horizonte to Taubaté drive?
The U.S. State Department rates Brazil Level 2: Exercise Increased Caution. Read the full advisory before you go.
What roads does the drive from Belo Horizonte to Taubaté use?
In order: BR-381, BR-262, BR-459, MG-173, SP-042, SP-046 and SP-123. The road-by-road table above shows the route miles for each one.
Where can you stop on the way from Belo Horizonte to Taubaté?
Closest to the road: Casa de Cacos (museum, mile 12, 2 mi from the route); Cachoeira dos Pilões (waterfall, mile 258, 0.1 mi from the route); Museu Arqueológico, Histórico, Cultural e Ambiental de Conceição dos Ouros (history museum, mile 259, 0.1 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.