This paper introduces {censobr}, an R package that provides an efficient method for accessing and analyzing Brazilian census data. The package enables in-disk data manipulation, allowing users to handle larger-than-memory datasets seamlessly with familiar {dplyr} syntax. The package integrates with {geobr}, enriching census data with geographic identifiers for easy spatial analysis. It offers a range of functions to download microdata and aggregated data for all of the Brazilian census editions since 1960. It also provides access to essential documentation such as variable dictionaries and interview manuals. Through this approach, {censobr} enhances accessibility to detailed demographic and socioeconomic information, including both individual-level microdata and census tract-level aggregates. Additionally, the package’s handling of complex survey designs and support for spatial data visualization facilitates in-depth analysis of the Brazilian population’s sociodemographic characteristics and living conditions over several decades. Practical examples included in the paper demonstrate its applications in areas such as demographic analysis and household-level research. {censobr} represents a significant advancement in making Brazilian census data accessible and efficient for academic and policy-related research. Future updates will expand its functionality and data coverage, contributing further to the package’s ease of use and analytical capabilities.