Brazil recognized Lithuania de jure оn 9 December 1921.
Diplomatic relations were established in 1931.
Brazil recognized the re-established independent State of Lithuania de jure оn 4 September 1991.
Diplomatic relations were re-established on 5 November 1991.
From 1996 to 2004, Vytautas Antanas Dambrava served as the first Ambassador of Lithuania to Brazil after the re-establishment of independence (resided in Venezuela, then in Spain).
From 1994 to 1995, Luiz Antonio Jardim Gagliardi served as the first Ambassador of Brazil to Lithuania after the re-establishment of independence (resided in Denmark).