Teresópolis to São Mateus is about 410 road miles (660 km): roughly 11 h 17 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: “Flooding makes some roads through the Amazon impassable for much of the year.”
| Total distance | 410 mi (660 km) |
|---|---|
| Time at the wheel, no stops | 11 h 17 min |
| Main roads, in order | BR-116 → 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 16.4 gal; actual use varies by vehicle and traffic |
| Stops listed below | 9 |
How the Teresópolis to São Mateus drive plays out
BR-101 (234 mi) and RJ-186 (63 mi) carry about 72% of the 410 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.
Teresópolis to São Mateus: the road sequence
| Road | Route miles (from–to) | Length, mi | State |
|---|---|---|---|
| local roads | 0–4 | 4 | Rio de Janeiro |
| BR-116 | 4–52 | 48 | Rio de Janeiro |
| connecting roads | 52–55 | 3 | Rio de Janeiro, Minas Gerais |
| CMG-393 | 55–82 | 27 | Minas Gerais |
| connecting roads | 82–83 | 1 | Minas Gerais |
| RJ-186 | 83–146 | 63 | Minas Gerais, Rio de Janeiro |
| connecting roads | 146–147 | 1 | Rio de Janeiro |
| ES-297 | 147–175 | 28 | Rio de Janeiro, Espírito Santo |
| BR-101 | 175–409 | 234 | Espírito Santo |
| local roads | 409–410 | 1 | Espírito Santo |
- Mile 54 of this route: Rio de Janeiro → Minas Gerais (state line)
- Mile 88 of this route: Minas Gerais → Rio de Janeiro (state line)
- Mile 171 of this route: Rio de Janeiro → Espírito Santo (state line)
What to see on the way from Teresópolis to São Mateus
- Right off the route (under 1 mile): Casa da Cultura de Fundão (mile 309)
- Nature and outdoors: Araponga Municipal Nature Park (mile 15), Pedra das Flores Natural Monument (mile 22), Frade e a Freira Natural Monument (mile 210), Paulo César Vinha State Park (mile 257), Morro do Penedo Natural Monument (mile 277), Fonte Grande State Park (mile 280)
- Museums and history: Museu Histórico da Ilha das Caieiras (mile 282), Casa da Cultura de Fundão (mile 309)
Araponga Municipal Nature Park
Araponga Municipal Nature Park is a municipal nature park in the state of Rio de Janeiro, Brazil, a protected green area along the way.
Pedra das Flores Natural Monument
Pedra das Flores Natural Monument is a municipal natural monument, a protected area in the state of Rio de Janeiro, Brazil.
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.
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.
Once you reach 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
- Juiz de Fora to São Mateus
- Sete Lagoas to São Mateus
- Petrópolis to São Mateus
From Teresópolis to other places in Brazil
- Teresópolis to Itaguaí
- Teresópolis to Guaratinguetá
- Teresópolis to Bragança Paulista
- Teresópolis to Paranapiacaba
- Teresópolis to Cubatão
- Teresópolis to Itu
Frequently asked questions
How long does it take to drive from Teresópolis to São Mateus?
About 11 h 17 min of driving without stops, over 410 miles.
What is the driving distance from Teresópolis to São Mateus?
About 410 miles (660 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 Teresópolis 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 Teresópolis to São Mateus?
In order: BR-116, 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 Teresópolis and São Mateus?
Closest to the road: Frade e a Freira Natural Monument (protected area, mile 210, 1 mi from the route); Casa da Cultura de Fundão (museum, mile 309, 0.1 mi from the route); Buddha of Ibiraçu (statue, mile 316, 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.