We describe seven species of Pilargidae from the coast and deep sea (300–1400 m deep) of southeastern Brazil, belonging to the genera Ancistrosyllis McIntosh, 1878, Cabira Webster, 1879, Glyphohesione Friedrich, 1950, Hermundura Müller, 1858, and Pilargis Saint-Joseph, 1899. Of those, two are new species ( Glyphohesione campensis sp. nov. and Pilargis falconae sp. nov. ) and two are new records of Ancistrosyllis for Brazil. Glyphohesione campensis sp. nov. is distinguished from its congeners by fewer neurochaetae, the anteriormost appearance of first notopodial spines, and intermediate relative length of dorsal and ventral cirri. Pilargis falconae sp. nov. is diagnosed by the presence of parapodial glands from the first chaetiger on the dorsal surface and from the sixth chaetiger on the ventral surface; and neurochaetae smooth capillaries and limbates with unidentate tips. Keys to pilargid species reported from, or likely to occur in, Brazilian waters are provided.