The following species of Echinoidea are here described: Eucidaris tribuloides (Lamarck), Arbacia lixula (Linneo), Centrostephanus besnardi Bernasooni, Lytechinus variegatus (Lamarck), Echinometra lucunter(Linneo), Mellita quinquiesperforata latiambulacra H.L.Clark, Encope emarginata (Leske) and Moira atropos (Lamarck). The following species of Asteroidea are also described: Astropecten marginatus Gray, Linckia guildingii Gray, Enoplopatiria marginata (Hupé) and Echinaster antonioensis de Loriol. Special attention has been given to the geographical distribution of these species from the coast of São Paulo State (Ubatuba, S. Sebastião, and Cananéia), comparing them with those from the coast of Africa. A new species is described: Centrostephanus besnardi, collected at the Island of Trindade (20º 30' S - 29º 22' w) which presents an interesting problem as to its distribution since it is quite similar to C.longispinus typical species known from the East Atlantic (coast of Guinea, Cape Verde Is., Azores Is., Morocco). Corresponding plates and bibliography have been added at the end of the paper.