We examine some aspects of the tectonic evolution of Precambrian cratonic roots beneath South America based on lithospheric distribution of shear-wave velocities. We derive our model by inverting 26,984 fundamental mode Rayleigh wave group velocity dispersion curves, at periods of 9–180 s. We first regionalize our measurements and then invert the result for a 3D S-wave velocity model extending to 200 km depth. Fast velocities beneath the Amazonian and São Francisco cratons, and beneath buried cratonic units in the Parnaíba and Paraná basins, are long wavelength features consistent with previous tomography studies. For the Amazonian craton at 150 km depth, we find an increase of velocities with province age, except for the Maroni-Itacaiúnas province, where we hypothesize that K'Mudku intraplate tectono-thermal events at the middle-late Mesoproterozoic and emplacement of a large igneous province following the breakup of Pangea could have altered at least partially its lithosphere. Our results are consistent with a São Francisco paleocontinent whose borders extend beyond the surface limits of the present São Francisco craton into the neighboring Araçuaí and Brasília belts. Based on slow shear-wave velocities in the upper mantle beneath the Borborema province, consistent with lithospheric thinning, we argue that a possible cratonic root of the São Francisco Paleocontinent beneath this province has likely been eroded away. This analysis is further corroborated by tectonic events that led to the alteration of the Borborema mantle, including hydration in the Paleoproterozoic, rifting in the early-middle Tonian, reworking during Neoproterozoic Brasiliano events, and lithospheric stretching during the breakup of Pangea. Finally, we also image a fast shear-wave velocity structure in the region of the Río de la Plata craton, consistent with magnetotelluric studies.