Background: HIV infection may result in neurological changes in children.Many of the infants born to HIV-positive mothers do not have signs and symptoms in the first months of life; therefore, it is difficult to know whether they are infected until the diagnosis is made, often around 18 months. Infants whose developmental disturbances are identified earlier will have higher chance to receive early intervention in order to allow their development as close as possible to typical developmental infants. Purpose: Characterize and compare motor and cognitive development of infants exposed to HIV with infant no exposed at four and eight months. Methods: Twenty-four infants aged at four and eight months, fourteen infants born to HIV-positive mothers and treated at the Reference Center for AIDS/Santos and fourteen infants no exposed to HIV, paired with age, gender and socioeconomic class, participated. Infants were assessed by Bayley Scale of Infant and Toddler Development III (BSITD III), and a socioeconomic questionnaire was administered to the parents. It was performed the analysis of fine (FM) and gross motor (GM) and cognitive (Cog) development by BSITD III. Motor and cognitive development were classified as high superior (score equal to or above 130 points), superior (120–129 points), high average (110–119 points), average (90–109 points), low average (80–89 points), borderline (70–79 points) and extremely low (score equal to or below 69). T-Student paired and Chi-squares tests were performed. Results: At four months, exposed infants showed lower FM total score (p= 0.012), FM scaled score (p= 0.015), FM+GM scaled score (p= 0.033), motor composite score (p= 0.037) and motor percentile (p= 0.040). At eight months, exposed infants showed lower Cog total score (p= 0.008), Cog scaled score (p= 0.009), Cog composite score (p= 0.009) and Cog percentile (p= 0.006). All participants showed cognitive performancewithin the normal range, however exposed infants were classified as “average” and “lower average” and no exposed as “average”, “high average” and “superior” (p= 0.04). Conclusion(s): Infants exposed to HIV may show motor developmental delay at four months and cognitive developmental delay or mild cognitive dysfunction at eight months. Implications: Four-month-old infants develop fine motor skills as reaching and grasping movements and eight-monthold infants starts to partial thumb opposition and refinement grasping. Exposed infants showed delays during acquisition of their abilities, like fine motor skill at four months and cognitive skills at eight months. Therefore, it is important to promote follow-up programs to recognize delays and establish intervention strategies to promote development.