We revalidate the theraphosid genus Pterinopelma Pocock 1901, describe the female of P. vitiosum for first time and Pterinopelma sazimai sp. nov. from Brazil. These two species were included in a matrix with 35 characters and 32 taxa and were analyzed both with all characters having same weight and with implied weights. Searches considering all characters non-additive or some additive were also carried out. The preferred tree, obtained with implied weights, concavity 6 and all characters non-additive shows that Pterinopelma is a monophyletic genus sister to the clade Lasiodora (Vitalius + Nhandu). The presence of denticles on the prolateral inferior male palpal bulb keel is a synapomorphy of the genus.