The Rio Pardo salient, the large antitaxial curve described by the Araçuaí fold-and-thrust belt along the southeastern edge of the São Francisco craton, is one of the most prominent and one of the least studied features of the Brasiliano Araçuaí-West Congo orogenic system (AWCO). In addition to the Archean/Paleoproterozoic basement, the salient is comprised of metasedimentary rocks mainly from the Neoproterozoic Macaúbas Group and the Salinas Formation. Its western limb occupies a portion of the Espinhaço ridge, where the NS-trending structures of the Araçuaí belt progressively curve NE and E, thereby defining the hinge zone along the Serra Geral on the Minas-Bahia boundary. The eastern limb is NW-trending and marked by a major shear zone. In models postulated to generate the AWCO through the closure of the Neoproterozoic Macaúbas basin, this large curve plays a critical kinematic role. Yet, in spite of this, its development is still not fully understood. How did this curve originate? Which factors controlled its generation? Our field study performed in the northern Araçuaí orogen characterized the kinematic picture of the salient, and led to a model that addresses these questions. The results we obtained indicate that the Rio Pardo salient developed in response to four deformation phases. The contractional D1 and D2 phases are coaxial and responsible for a craton-directed tectonic transport along the salient's outer arc, which is coupled with an overall southward motion of the inner arc, thereby giving rise to a rather complex kinematic picture. Furthermore, structures of the D1/D2 phases define a zigzag pattern with alternating NE-and NW-trending segments along the salient's leading edge. Along the NE-trending segments, the metasedimentary rocks are thrust northwestwards on top of the craton basement, while along the NW-trending segments, the supracrustal rocks are displaced along dextral to reverse-dextral transpressional shear zones located on the basement/cover contact. Structures of the D3 phase, which are well developed in the hinge zone, record a final WSW-ENE contraction, which was responsible for rotation of the preexistent fabric elements around NNW-trending axes and the enhancement of the salient curvature. The D4 phase is extensional and is recorded by two large-scale structures, the Chapada Acauã and Tingui normal shear zones, as well as by the normal-sinistral reactivation of the Itapebi strike-slip shear zone that marks the salient eastern limb. We interpret the initiation of the Rio Pardo salient during the collisional 565-575 Ma D1/D2 phases essentially as a primary arc that is mainly controlled by the geometry of the Macaúbas precursor basin. The thickened internal portion of the Rio Pardo salient was affected by extensional tectonism at c. 530 Ma, and is recorded by the D4 deformation phase, which is currently ascribed to the extensional collapse of the Araçuaí-West Congo orogen.