The objective of this study was to produce vinegar from mangaba pulp using semi-solid alcoholic fermentation combined with the enzymatic activity of pectinase and to investigate the chemical composition and sensory characteristics of the final product. was evaluated for volatile acidity and the reduced dry extract was evaluated for ashes, alcohol content, sulfates, pH, total phenolic compounds, total carotenoids, color parameters, yield, productivity, and sensory analysis. Average and standard deviation was used for descriptive statistics. Principal component analysis (PCA) was applied to all variables except total carotenoid content. Physicochemical characterization of the raw and alcoholically fermented pulp was also carried out. The main results showed that, in the vinegar, the reduced dry extract, volatile acidity, pH, and ashes were 44.3±1.5 (g/L), 4.4±0.1 (% w/v), 3.1±0.0, and 3.0±0.41 (g/L), respectively. The total phenolic compound content and total carotenoid content for the mangaba vinegar were 19.2±8.20. mg/100 g and 2.6±0.6. mg/100 g, respectively. The conversion yield from ethanol to acetic acid was 90%. PCA showed that pH and volatile acidity had a strong influence on the product, and there was a strong positive correlation between color and aroma. The final product met all legal requirements, showing that it is possible to produce mangaba vinegar with antioxidant potential for consumers. In the sensory evaluation, it was favored by the tasters, demonstrating potential economic value in the Cerrado fruit.