On Multimap you can focus in to see individual streets.
The Brazilian Geographic and Statistical Institute, a federal agency, offers a selection of maps for consultation on its website.
The University of Texas Library offers a selection of maps. They are mostly culled from US government sources. Some are out of date.
The National Geographic’s Map Machine offers several themed maps, but its Brazilian “street map” does not outline any streets.
Maps.com is improving its selection of Brazil maps.
The best printed atlases are published by Abril, a leading Brazilian publisher, in Portuguese. Abril also publishes atlases to several cities, including São Paulo and Rio de Janeiro. The Abril atlases are generally only available at newsstands and bookstores in Brazil.
We’ve heard some praise of the Brazil Travel Reference Map published by International Travel Maps & Books of Canada. But we’ve yet to see it. Order the Brazil Map by ITMB from Amazon.com.
Order the Collins Brazil Map (Independent Travel Series) on Amazon.com.
Order the Hammond World Atlas Brazil Map (International Series) on Amazon.com.
If you prefer you can browse the entire selection of Brazil maps on Amazon.com.
Start Planning Your Trip to Brazil