Epiperipatus edwardsii (Blanchard, 1847) is redescribed based on fresh material collected near the type locality. Additionally, five new species of velvet worms of the genus Epiperipatus Clark, 1913 from Brazil are described: Epiperipatus hyperbolicus sp. nov., Epiperipatus lucerna sp. nov., Epiperipatus titanicus sp. nov. (Holotypes deposited in MNRJ: Murici, Alagoas State), Epiperipatus beckeri sp. nov. (Holotype female deposited in MNRJ: Camacan, Bahia State) and Epiperipatus marajoara sp. nov. (Holotype male deposited in MZUSP: Breves, Marajó island, Pará State). The peculiar shape of the primary papillae (artichoke-like) of E. titanicus sp. nov. and E. beckeri sp. nov. is documented for the first time. Epiperipatus titanicus sp. nov. has the largest number of pairs of oncopods (38 for males and 39 for females) among the Brazilian Onychophora. We also provide an identification key for Brazilian species of Epiperipatus.