The handover ceremony occurred late last week at the Portsmouth Naval Base.
"We are extremely proud to deliver Araguari," said Mick Ord, managing director of BAE Systems' Maritime-Naval Ships business. "She is a highly capable ship, and with her sister ships, will be a great asset to the Brazilian Navy.
"We have written a new chapter in BAE Systems' relationship with Brazil with the completion of the Amazonas class of ships. We look forward to continued partnership with the Brazilian navy for many years to come."
The Araguari and sister vessels carry a 30mm cannon and two 25mm guns, as well as two rigid inflatable boats and a helicopter flight deck. They are 295 feet long, have a top speed of 25 knots and a range of more than 5,000 miles.
"The three Amazonas class units make up an important contribution to both our ability to provide security, safety and protection to the Brazil's jurisdictional waters and to deliver our commitments to the Brazilian Maritime Authority," said Vice Adm. Francisco Deiana, the Brazilian navy's director of naval engineering.
The contract between BAE Systems and Brazil for the three ships included a licensing provision for additional such vessels to be built in Brazil.