By road, São Mateus and Penedo are about 552 miles (889 km) apart, or roughly 13 h 35 min of driving.
- 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.”
| Distance by road | 552 mi (889 km) |
|---|---|
| Drive time without stops | 13 h 35 min |
| Main roads, in order | BR-101 → CA-M-197 → RJ-238 → RJ-180 → BR-040 → BR-116 |
| States on the route | Espírito Santo, Rio de Janeiro |
| Fuel estimate (car at 25 mpg) | about 22.1 gal; actual use varies by vehicle and traffic |
| Stops listed below | 7 |
On the road from São Mateus to Penedo
BR-101 (278 mi) and RJ-180 (152 mi) carry about 78% of the 552 miles. It runs through 2 states: Espírito Santo, Rio de Janeiro. None of the 7 stops below is right on the road, so plan each as a short side trip.
São Mateus to Penedo: the road sequence
| Road | Route miles (from–to) | Length, mi | State |
|---|---|---|---|
| local roads | 0–1 | 1 | Espírito Santo |
| BR-101 | 1–47 | 46 | Espírito Santo |
| local roads | 47–50 | 3 | Espírito Santo |
| BR-101 | 50–273 | 223 | Espírito Santo, Rio de Janeiro |
| connecting roads | 273–274 | 1 | Rio de Janeiro |
| local roads | 274–280 | 6 | Rio de Janeiro |
| CA-M-197 | 280–283 | 3 | Rio de Janeiro |
| RJ-238 | 283–286 | 3 | Rio de Janeiro |
| connecting roads | 286–287 | 1 | Rio de Janeiro |
| RJ-180 | 287–439 | 152 | Rio de Janeiro |
| BR-101 | 439–448 | 9 | Rio de Janeiro |
| BR-040 | 448–457 | 9 | Rio de Janeiro |
| connecting roads | 457–459 | 2 | Rio de Janeiro |
| BR-116 | 459–549 | 90 | Rio de Janeiro |
| local roads | 549–552 | 3 | Rio de Janeiro |
- Mile 237 of this route: Espírito Santo → Rio de Janeiro (state line)
Stops between São Mateus and Penedo
- Nature and outdoors: Frade e a Freira Natural Monument (mile 200), Serra do Barbosão Municipal Nature Park (mile 411)
- Museums and history: Museu Histórico da Ilha das Caieiras (mile 128), Candelária Church (mile 444), Sala Cecília Meireles (mile 448)
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.
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.
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.
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.
Pedra de Itapuca
Between Icaraí and Flechas beaches in Niterói, Pedra de Itapuca is a rock formation considered one of the symbols of the city.
Candelária Church
Built and decorated from 1775 into the late 19th century, the Candelária Church is a historic Roman Catholic church in Rio de Janeiro.
Sala Cecília Meireles
In Rio de Janeiro's Lapa district, Sala Cecília Meireles is a theater known for chamber music and regarded as one of the city's best venues for acoustics.
Once you reach Penedo
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.
Itatiaia National Park
Brazil's national park system started here: Itatiaia National Park (Parque Nacional do Itatiaia) was created in 1937 as the country's first. The protected area lies on the border between Rio de Janeiro and Minas Gerais states.
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 São Mateus to other places in Brazil
- São Mateus to Barra do Piraí
- São Mateus to Itaguaí
- São Mateus to Fumaça
- São Mateus to Lavras
- São Mateus to Nova Serrana
Frequently asked questions
How long is the drive from São Mateus to Penedo?
About 13 h 35 min of driving without stops, over 552 miles.
What is the driving distance from São Mateus to Penedo?
About 552 miles (889 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 São Mateus to Penedo drive?
The U.S. State Department rates Brazil Level 2: Exercise Increased Caution. Read the full advisory before you go.
Which highways go from São Mateus to Penedo?
In order: BR-101, CA-M-197, RJ-238, RJ-180, BR-040 and BR-116. The road-by-road table above shows the route miles for each one.
Where can you stop on the way from São Mateus to Penedo?
Closest to the road: Frade e a Freira Natural Monument (protected area, mile 200, 1 mi from the route); Serra do Barbosão Municipal Nature Park (protected area, mile 411, 1 mi from the route); Pedra de Itapuca (rock formation, mile 441, 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.