Abstract The SE Brazilian continental margin is rich in geomorphological features that create different seascapes, where diverse benthic communities thrive. The seafloor is composed of a mixture of pockmarks of different sizes and shapes and tall carbonate mounds that may form extensive chains. Mounds are colonized by deep-water corals which are the main responsible organisms promoting growth over geological time. Depressions and mounds affect the benthic ecosystem in multiple ways owing to water flow, sedimentation rates and food availability. This paper presents new data on macrofaunal composition and community structure associated with deep-sea coral habitats and pockmark areas along the upper continental slope of Santos Basin. Ten sites were sampled using a 0.25 m2 box corer on board R/V Alpha-Crucis, totaling 27 sediment samples. A total of 182 taxa were found, including new records for the Southwestern Atlantic, as well as several potential new species to science. In general, we observed an association of the macrobenthic fauna with the geomorphology of the area and the most important variables, mainly substrate composition and water flux. The abundance, taxonomic composition and also the feeding modes varied across the deep-water coral sites and pockmarks, reflecting in a mosaic of benthic habitats. As deep-sea corals and pockmarks are extremely sensitive to anthropogenic influence and natural shifts, in addition to the economic value associated to fisheries, this study provides baseline information on these special habitats in Santos Basin that can be used for future research, monitoring activities, and conservation strategies.