Uruguayan and Manchester United striker Edinson Cavani was shown a straight red card after a VAR decision following a challenge on Richarlison in the second half.
Arthur Melo put the visitors ahead before Richarlison headed home the winner on the stroke of half time.
Uruguay missed the services of Athletico Madrid's forward Luis Suarez who tested positive for Covid-19.
Brazil extended their 100% winning record in the South American qualifiers for the Qatar 2022 World Cup.
Uruguay are fifth-placed in the 10-team group which is topped by Brazil who have nine points from three games.
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