Stenopodidae comprises about 28 species in tropical and subtropical waters around the world, but only two of them in the South Atlantic Ocean (SAO)—Stenopus scutellatus and S. hispidus. Larvae of S. scutellatus were never registered in SAO and those of S. hispidus remain poorly researched. The present study fully describes first to seventh zoea of S. hispidus collected in the plankton of SAO, adjacent to Brazil. In addition, eight larvae of S. scutellatus and two larvae of non-identified Stenopodidea from the same area were also described.