Plan on about 4 h 45 min of driving for the 235-mile (378 km) trip from Itanhaém to Penedo, 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: “Flooding makes some roads through the Amazon impassable for much of the year.”
| Distance | 235 mi (378 km) |
|---|---|
| Time at the wheel, no stops | 4 h 45 min |
| Main roads, in order | SP-055 → SP-160 → SP-021 → SP-070 → SP-060 |
| States on the route | São Paulo, Rio de Janeiro |
| Fuel estimate (car at 25 mpg) | about 9.4 gal; actual use varies by vehicle and traffic |
| Stops listed below | 8 |
How the Itanhaém to Penedo drive plays out
SP-060 (86 mi) and SP-070 (56 mi) carry about 60% of the 235 miles. It runs through 2 states: São Paulo, Rio de Janeiro. Of the 8 stops listed below, 3 are within a mile of the road.
Which roads connect Itanhaém and Penedo
| Road | Route miles (from–to) | Length, mi | State |
|---|---|---|---|
| local roads | 0–1 | 1 | São Paulo |
| SP-055 | 1–28 | 27 | São Paulo |
| connecting roads | 28–32 | 4 | São Paulo |
| SP-160 | 32–52 | 20 | São Paulo |
| connecting roads | 52–53 | 1 | São Paulo |
| SP-021 | 53–85 | 32 | São Paulo |
| connecting roads | 85–86 | 1 | São Paulo |
| SP-070 | 86–142 | 56 | São Paulo |
| connecting roads | 142–145 | 3 | São Paulo |
| SP-060 | 145–231 | 86 | São Paulo, Rio de Janeiro |
| local roads | 231–235 | 4 | Rio de Janeiro |
- Mile 217 of this route: São Paulo → Rio de Janeiro (state line)
Places worth a stop between Itanhaém and Penedo
- Right off the route (under 1 mile): Basilica of Our Lady of Aparecida (mile 173), Our Lady of Aparecida Museum (mile 173), Museu Histórico Pedagógico Conselheiro Rodrigues Alves (mile 177)
- Nature and outdoors: Praia da Tupi (mile 22), Praia da Guilhermina (mile 26), Boqueirão Beach (mile 26), Parque Natural Estoril (mile 58)
- Museums and history: Anthropology Museum of the Paraíba Valley (mile 112), Basilica of Our Lady of Aparecida (mile 173), Our Lady of Aparecida Museum (mile 173), Museu Histórico Pedagógico Conselheiro Rodrigues Alves (mile 177)
Praia da Tupi
Praia da Tupi is a beach in Praia Grande, São Paulo state, with yellowish sand and blue water; it is one of the city's less crowded beaches and a favorite with surfers.
Praia da Guilhermina
Stretching 1.5 kilometers along the shore of Praia Grande, São Paulo, Praia da Guilhermina sits between Aviação and Boqueirão beaches.
Boqueirão Beach
Running 670 meters along the Praia Grande shoreline between Forte and Guilhermina beaches, Praia do Boqueirão has restaurants, kiosks and a tourist information post.
Parque Natural Estoril
In São Bernardo do Campo, Parque Natural Estoril is a conservation area protecting Atlantic Forest, part of the Billings Reservoir and local wildlife across roughly 373,000 square meters.
Anthropology Museum of the Paraíba Valley
Housed in an 1857 mansion in Jacareí, the Anthropology Museum of the Paraíba Valley (Museu de Antropologia do Vale do Paraíba) shows sacred and folk art, paintings, and archaeological finds such as ceramic vessels and stone tools.
Basilica of Our Lady of Aparecida
Construction of the current basilica at Aparecida started in 1955, and Pope John Paul II consecrated it in 1980. As Brazil's National Shrine, it keeps the image of Our Lady Aparecida found by fishermen in 1717.
Our Lady of Aparecida Museum
Within the Aparecida basilica complex, the Our Lady of Aparecida Museum (Museu Nossa Senhora Aparecida) gathers objects from the region, including archaeological pieces and sacred items. It opened in 1956.
Museu Histórico Pedagógico Conselheiro Rodrigues Alves
Guaratinguetá's history museum honors Francisco de Paula Rodrigues Alves, Brazil's president from 1902 to 1906, who lived in the town. São Paulo state created it in 1956 along with museums for other presidents born in the state.
Arriving in Penedo
Itatiaia National Park
Created in 1937, Parque Nacional do Itatiaia holds the distinction of being Brazil's first national park. It sits on the border of two states, Rio de Janeiro and Minas Gerais.
Rio Pombo Nature Park
Formerly the Serrinha do Alambari Municipal Park, Rio Pombo Nature Park is a municipal nature park in the state of Rio de Janeiro.
More drives to Penedo
- Pindamonhangaba to Penedo
- Taubaté to Penedo
- São José dos Campos to Penedo
- Jacareí to Penedo
- Mogi das Cruzes to Penedo
- Caraguatatuba to Penedo
From Itanhaém to other places in Brazil
- Itanhaém to Paranapiacaba
- Itanhaém to Ituiutaba
- Itanhaém to Barra do Piraí
- Itanhaém to Historic Village of Mambucaba
- Itanhaém to Trindade
- Itanhaém to Fumaça
Frequently asked questions
How long is the drive from Itanhaém to Penedo?
About 4 h 45 min of driving without stops, over 235 miles.
How far is Penedo from Itanhaém by car?
About 235 miles (378 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.
Is it safe to drive from Itanhaém to Penedo?
The U.S. State Department rates Brazil Level 2: Exercise Increased Caution. Read the full advisory before you go.
Which highways go from Itanhaém to Penedo?
In order: SP-055, SP-160, SP-021, SP-070 and SP-060. The road-by-road table above shows the route miles for each one.
Where can you stop on the way from Itanhaém to Penedo?
Closest to the road: Basilica of Our Lady of Aparecida (basilica, mile 173, 0.4 mi from the route); Our Lady of Aparecida Museum (museum, mile 173, 0.4 mi from the route); Museu Histórico Pedagógico Conselheiro Rodrigues Alves (museum, mile 177, 0.4 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.