Esagonatopus antonioi Martins sp. nov. from Central Brazil is described and illustrated. The new species is characterized by having the head slightly excavated, almost flat, with granulate sculpture; the frontal line complete; the occipital carina absent; the mesosoma reticulate rugose and the scutum without lateral pointed apophyses. An updated key to the Neotropical species of the genus Esagonatopus Olmi is provided.