Knowledge on crocodyliform paleoneurology has significantly improved with development of computed tomography. However, studies so far have been able to reconstruct brain endocasts based only on single specimens for each taxon. Here for the first time, we reconstructed brain endocasts for multiple fossil specimens of the same crocodyliform taxon (Baurusuchus), consisting of complete skulls of two medium sized specimens, one large adult, and a late juvenile. In addition, we were able to reconstruct the inner ear anatomy of a fragmentary skull using microtomography. We present estimates of brain size using simple models, based on modern Crocodylia, able to adapt brain to endocranial cavity ratios to expected ontogenetic variation instead of using fixed ratios. We also analyzed relative brain sizes, olfactory ratios, facial sensation, alert head posture, best hearing frequencies, and hearing range. The calculated endocranial volumes showed that they can be greatly altered by taphonomic processes, altering both total and partial endocranial volumes. Reconstructed endocasts are compatible with different degrees of occupation along the endocranial cavity and some of their characteristics might be useful as phylogenetic characters. The relative brain size of Baurusuchus seems to be small in comparison to modern crocodilians. Sensorial abilities were somewhat similar to modern crocodilians and hearing ranges and best mean frequencies remarkably similar to modern taxa, whereas olfactory ratio values are a little higher. Differing from its modern relatives, Baurusuchus hypothesized alert head posture is compatible with a terrestrial habit.