A new sauropodomorph dinosaur from the Late Triassic Candelária Sequence (Santa Maria Formation), south Brazil, Bagualosaurus agudoensis gen. et sp. nov., helps to fill a morphological gap between the previously known Carnian members of the group and younger sauropodomorphs. In some aspects, the skull, lower jaw, and dental anatomy of the new taxon approaches that seen in Norian forms like Pantydraco caducus, Efraasia minor, and Plateosaurus engelhardti. On the contrary, the post-cranial skeleton is broadly reminiscent of coeval, early dinosaurs. Although not reaching the size of most Norian and younger sauropodomorphs, B. agudoensis is significantly larger than coeval forms. The new data thus suggest that modifications in skull anatomy, possibly related to more efficient herbivorous habits, appeared early in sauropodomorph evolution, along with a moderate increase in size, followed in post-Carnian times by further increase in size, accompanied by more radical changes in post-cranial anatomy.