This work presents the results of a palaeontological analysis focused on twenty-six species sampled in five sections of the Tamengo and Guaicurus formations, Corumbá and Ladário regions: Corcal and Laginha quarries, Porto Sobramil, Porto Figueiras and Ecoparque Cacimba. Besides, palaeoecological and palaeoenvironmental inferences are presented based on the occurrence of this fossil assemblage. Cloudina carinata Cortijo et al., 2010, previously documented in Spain and Siberia, presents an unprecedented occurrence in the American continent, in siltstones of the Tamengo Formation at Porto Figueiras section, Municipality of Corumbá, Mato Grosso do Sul State, Brazil. The biota of the Tamengo Formation is updated and composed of three biomineralizing metazoans, including poriferan spicules, putative sponge gemmule, and a sessile epibiontic prokaryotic colony. The present work also deals with the taxonomy and stratigraphic distribution of four ichnospecies and three vendotaenid species that integrate the updated benthic fauna for the upper portion of Corumbá Group.