The chelodesmid genus Odontopeltis Pocock, 1894, is revised. It currently contains eight species, four of which are described as new here: Odontopeltis aleijadinho sp. nov., Odontopeltis donabeja sp. nov., Odontopeltis tiradentes sp. nov., and Odontopeltis xica sp. nov. Additional descriptive data are provided for Odontopeltis anchisteus Hoffman, 1981, Odontopeltis clarazianus (Humbert & deSaussure, 1869), Odontopeltis giganteus Schubart, 1849, and Odontopeltis conspersus (Perty, 1844); for the latter species a neotype is designated herein. The current position of all species ever associated with the genus is presented. Examination of type material revealed that the following species are not members of the genus Odontopeltis: Odontopeltis balzanii Silvestri, 1895, Odontopeltis borellii Silvestri, 1895, Polydesmus gracilipes Humbert & deSaussure, 1870, and Odontopeltis proxima Silvestri, 1895. The type specimen of Rhacophorus decoloratus Koch, 1847, is lost and the species is considered incertae sedis. The terminology of gonopod structures is discussed. A phylogenetic analysis of Odontopeltis based on 47 morphological characters, with species of the genus Odontopeltis and six outgroup taxa is presented. Odontopeltis is monophyletic, with Rondonaria as its closest sister-group. The included members of the tribe Telonychopodini (Pantanalodesmus, Telonychopus, and Manfrediodesmus) form a monophyletic group; the tribe Macrocoxodesmini (Macrocoxodesmus and Eucampesmella) is paraphyletic in this data set.