The miniature paleocontinent in the region of the São Francisco River valley, in eastern Brazil, holds the record of two different glacial epochs. The late Cryogenian Jequitaí Formation from the Bambuí Group is up to 100 m thick and covers areas mainly in the central São Francisco craton. Evidences for glacial sedimentation are beautifully preserved E-W grooves and striations, dropstones within fine-grained rocks, and a full set of diamictites enclosing a rich and complex depositional history. The Jequitaí Formation is in close link with the tectonic evolution of the São Francisco paleocontinent and the West Gondwana amalgamation. From west, the precocious Paranapanema and São Francisco blocks collision in late Cryogenian flexured the foreland lithosphere and created depozones that were infilled by glacial sediments. Toward east, the rifting and opening of the Adamastor Ocean allowed thick glacial and non-glacial deposits to form through subaqueous gravitational sedimentation. From west to east, proximal and distal glaciomarine, glaciocontinental, and non-glacial resedimentation are identified and linked to the evolving continental masses and climate during the Cryogenian and beginning of Ediacaran. The late Paleozoic Santa Fé Group is the youngest record of glaciation on the São Francisco craton. It is 60–80 m thick and yields consistent and confident glacial evidences such as N-S striations on top of Cambrian sandstones, ice-rafted debris, and rain-out diamictite, all preserved in small and patchy areas in the west-central São Francisco craton. Paleocurrents suggest a northern ice center and sedimentary facies indicate deposition in continental lakes and rivers. Although late Paleozoic, its age is poorly constrained and likely correlated with the uppermost Itararé Group (Taciba Formation) of Paraná Basin in south Brazil. Deglaciation and strong isostatic adjustments make up the termination of the Santa Fé Group sedimentary record and depict a glaciocontinental system evolved on an interior stable continental crust. The late Neoproterozoic Jequitaí Formation and the late Paleozoic Santa Fé Group are parts of the earth’s sedimentary history preserving a rich record of climate, tectonic, and surface processes in part controlled by the evolving continental masses on the São Francisco craton.