Petrópolis to São Mateus is about 426 road miles (685 km): roughly 11 h 36 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: “Drivers must have their daytime running lights on during the day and headlights on at night on Federal Highways.”
| Distance | 426 mi (685 km) |
|---|---|
| Time at the wheel, no stops | 11 h 36 min |
| Main roads, in order | BR-040 → CMG-393 → RJ-186 → ES-297 → BR-101 |
| States on the route | Rio de Janeiro, Minas Gerais, Espírito Santo |
| Fuel estimate (car at 25 mpg) | about 17.0 gal; actual use varies by vehicle and traffic |
| Stops listed below | 9 |
What the drive from Petrópolis to São Mateus is like
BR-101 (235 mi) and RJ-186 (64 mi) carry about 70% of the 426 miles. It runs through 3 states: Rio de Janeiro, Minas Gerais, Espírito Santo. Of the 9 stops listed below, 1 are within a mile of the road.
Which roads connect Petrópolis and São Mateus
| Road | Route miles (from–to) | Length, mi | State |
|---|---|---|---|
| local roads | 0–10 | 10 | Rio de Janeiro |
| BR-040 | 10–24 | 14 | Rio de Janeiro |
| connecting roads | 24–25 | 1 | Rio de Janeiro |
| local roads | 25–68 | 43 | Rio de Janeiro |
| connecting roads | 68–70 | 2 | Rio de Janeiro, Minas Gerais |
| CMG-393 | 70–98 | 28 | Minas Gerais |
| RJ-186 | 98–162 | 64 | Minas Gerais, Rio de Janeiro |
| ES-297 | 162–190 | 28 | Rio de Janeiro, Espírito Santo |
| BR-101 | 190–425 | 235 | Espírito Santo |
| local roads | 425–426 | 1 | Espírito Santo |
- Mile 69 of this route: Rio de Janeiro → Minas Gerais (state line)
- Mile 104 of this route: Minas Gerais → Rio de Janeiro (state line)
- Mile 186 of this route: Rio de Janeiro → Espírito Santo (state line)
What to see on the way from Petrópolis to São Mateus
- Right off the route (under 1 mile): Casa da Cultura de Fundão (mile 324)
- Nature and outdoors: Pedra do Elefante Natural Monument (mile 15), Frade e a Freira Natural Monument (mile 226), Paulo César Vinha State Park (mile 272), Morro do Penedo Natural Monument (mile 293), Fonte Grande State Park (mile 295)
- Museums and history: Pedra do Elefante Natural Monument (mile 15), Museu Histórico da Ilha das Caieiras (mile 298), Serra Historical Museum (mile 308), Casa da Cultura de Fundão (mile 324)
Pedra do Elefante Natural Monument
The Pedra do Elefante Natural Monument is a municipal natural monument, a protected area in the state of Rio de Janeiro.
Frade e a Freira Natural Monument
Created by state decree in 2007, the Frade e a Freira Natural Monument is a state-run protected area in Espírito Santo spanning parts of Itapemirim, Cachoeiro de Itapemirim and Vargem Alta.
Paulo César Vinha State Park
Along the Atlantic shore in Guarapari, Paulo César Vinha State Park protects dunes, lagoons and marshes. Its trails lead to the beach and to Lagoa de Caraís.
Morro do Penedo Natural Monument
Morro do Penedo Natural Monument protects a small sugarloaf-shaped hill on the shore of the bay south of Vitória, the capital of Espírito Santo state.
Fonte Grande State Park
Fonte Grande State Park is a state-protected park in the Brazilian state of Espírito Santo.
Museu Histórico da Ilha das Caieiras
On Ilha das Caieiras in Vitória, Espírito Santo, this history museum is named for Manoel Passos Lyrio; an expansion begun in 2022 adds a section devoted to local fishermen.
Serra Historical Museum
Founded in 2007, the Serra Historical Museum (Museu Histórico da Serra) in the municipality of Serra, Espírito Santo, keeps a collection of documents, period objects and other historical items.
Casa da Cultura de Fundão
Once the Agostini family residence, this two-story house in Fundão is protected as cultural heritage by Espírito Santo state and now works as a museum.
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.
Arriving in São Mateus
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 Petrópolis to other places in Brazil
- Petrópolis to Guaratinguetá
- Petrópolis to Pindamonhangaba
- Petrópolis to Jacareí
- Petrópolis to Caraguatatuba
- Petrópolis to Bragança Paulista
- Petrópolis to Paranapiacaba
Frequently asked questions
How long does it take to drive from Petrópolis to São Mateus?
About 11 h 36 min of driving without stops, over 426 miles.
What is the driving distance from Petrópolis to São Mateus?
About 426 miles (685 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 Petrópolis to São Mateus?
The U.S. State Department rates Brazil Level 2: Exercise Increased Caution. Read the full advisory before you go.
Which highways go from Petrópolis to São Mateus?
In order: BR-040, CMG-393, RJ-186, ES-297 and BR-101. The road-by-road table above shows the route miles for each one.
What are good stops between Petrópolis and São Mateus?
Closest to the road: Frade e a Freira Natural Monument (protected area, mile 226, 1 mi from the route); Casa da Cultura de Fundão (museum, mile 324, 0.1 mi from the route); Buddha of Ibiraçu (statue, mile 331, 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.