Aetosauria, which includes 30 species, is a diverse group of armored pseudosuchian archosaurs restricted to Upper Triassic beds. Three species occur in Brazil, and one of these, Aetosauroides scagliai Casamiquela, 1960, also occurs in Argentina. The specimen UFSM 11505, found at Faixa Nova-Cerrito I Outcrop, Santa Maria Formation (Hyperodapedon Assemblage Zone), Santa Maria, Rio Grande do Sul State, Brazil, is here referred to as Aetosauroides scagliai. This specimen preserves most of the skull with both hemimandibles in association with most of the postcranium, thus representing one of the most complete aetosaur skeletons found in Brazil. The premaxilla, one of the key elements of the cranial morphology of aetosaurs, along with the posterior portion of the mandible, was not described until now for A. scagliai. In contrast to the typothoracinae aetosaurs, the premaxilla of UFSM 11505 presents a shovel-shaped tip, but it is not as prominent as the lateral expansion of desmatosuchian aetosaurs, including both species of Stagonolepis, S. robertsoni Agassiz, 1844 and S. olenkae Sulej, 2010. The retroarticular process of the mandible is elongate and not tall, as in Stenomity huangae Small & Martz, 2013 and other typothoracinae aetosaurs. Unlike previous descriptions of A. scagliai, the maxillary teeth are recurved ziphodont-like with serrations on the entire length of both margins. Premaxillary teeth are also present, being less recurved than the maxillary teeth and cylindrical. We recovered Aetosauroides scagliai as the most basal taxon within Aetosauria, like previous phylogenetic analyses. Furthermore, our analyses reinforce that recurved and unconstricted maxillary teeth, the shovel-shaped premaxilla and the presence of a tuber on the surangular are plesiomorphic features of Aetosauria.