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ABSTRACT This work validates two Waltheria species endemic to campo rupestre with complete descriptions, illustrations, updated geographical distributions and comments on taxonomic affinities. Waltheria biribiriensis and Waltheria terminans are restricted to the Southern Espinhaço Province in eastern South America, occurring on mountain tops where campo rupestre vegetation prevails. Furthermore, Waltheria brachypetala, a species of dry deciduous forests in Brazil that was long considered as conspecific with W. ferruginea due to its shrubby lifeform and similar indumentum, is re-established based on differences of phyllotaxy, blade shape and inflorescence type. The first occurrence records of W. brachypetala in the state of Paraíba are also provided, as well as the first record in the Atlantic Forest domain. Lastly, a lectotype is designated for W. ferruginea.