In this study the Brazilian Amazonian species of Acanthoscurria Ausserer, 1871 are redescribed: A. geniculata (C.L. Koch, 1841), A. tarda Pocock, 1903, A. juruenicola Mello-Leitão, 1923, A. theraphosoides (Doleschall, 1871). Acanthoscurria simoensi Vol, 2000 and A. insubtilis Simon, 1892, previously known from French Guyana and Bolivia, respectively, are recorded for Brazil by the first time. The females of these two species are described for the first time and a new species, A. belterrensis sp. nov., is described from Belterra, Pará, Brazil. In addition, four synonymies are established: A. transamazonica Piza, 1972 as junior synonym of A. geniculata; A. ferina Simon, 1892 and A. brocklehursti F.O.P.-Cambridge, 1896 of A. theraphosoides; and A. xinguensis Timotheo da Costa, 1960 of A. juruenicola. Acanthoscurria belterrensis sp. nov. resembles A. gomesiana Mello-Leitão, 1923 by the color pattern and structure of sexual organs. The male can be distinguished by the less curved embolus and the very projected prolateral superior and prolateral inferior keels, giving a triangular aspect to the basis of embolus, and the female seminal receptacles presenting a larger and narrower basis.