The landslides hit the city of Petropolis, about 30 miles north of Rio, after a river burst its banks and flooded the city centre.
Two rescue workers were killed trying to save other victims.
The area around Petropolis has seen deadly landslides before - 900 people were killed in an incident in 2011.
Our correspondent says promises from the authorities to invest in measures to prevent similar landslides were not fully implemented.
Officials say more than a month's worth of rain fell in Petropolis in the 24 hours leading up to the landslides.
The city remains on high alert and further heavy rain is forecast. Schools are closed and residents have been told to stay in their homes.
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