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Gravity inversion is a highly effective method for investigating regional geological structures, and this paper proposes an optimization scheme for constrained three-dimensional (3D) gravity inversion to obtain a 3D density model, utilizing prior geological and geophysics information. Specifically, the proposed method enhances deep structural imaging resolution and minimizes false structures by progressively inverting deep and shallow-density structures using long and short-wavelength signals of gravity anomaly with prior information. The scheme is applied in the southeast passive continental margin of Brazil, and the results show that the density model is consistent with the previous reflection and refraction seismic data. Moreover, the 3D density model reveals several insights: (i) The Abimael Ridge (AR) and the São Paulo Plateau (SPP) exhibit thin crustal thickness (∼5–7 km) indicative of proto-oceanic crust. The SPP and AR area crustal thinning may be related to an aborted opposing rift propagator pair. (ii) The rifting modes of Santos and Campos Basins differ significantly. Campos Basin exhibits a depth-dependent lithospheric stretching model with a relatively intact upper crust. In contrast, Santos Basin shows a highly brittle upper crust that is partially thinned and, in some regions, even absent under the far-field effect of spreading failed rifts, while the lower crust remains relatively intact. Moreover, the upper crustal stretching factor is about five to ten higher than the lower crustal. Thus, the constrained 3D gravity inversion scheme provides a new avenue for continental rifted margin geological structure studies. • An improved step-by-step constrained density gravity inversion scheme is proposed with priori information. • The Abimael Ridge and São Paulo Plateau are postulated to be proto-oceanic crust due to aborted oceanic ridge rifting. • The Santos Basin and Campos Basin exhibit distinctly different patterns of crustal thinning from the density model and its derived parameters. [ABSTRACT FROM AUTHOR]