Out of all the popular cities in Brazil, Sao Paulo is the cheapest city to hire a car in at just $16/day. Renting a car in Sao Paulo is 91% cheaper than renting one in Cuiabá where the per day rate is around $159. Other fairly inexpensive cities in Brazil to get a car hire in are: Rio de Janeiro ($19/day), Porto Alegre ($23/day), and Brasilia ($32/day). While these cities typically have cheaper prices than the rest of the country, travellers looking to hire a car in Rio de Janeiro should expect to spend around $19/day on their transportation. The most popular city to rent a car in Brazil is Rio de Janeiro.