The settlement was allowed on 1755 and to guarantee to safety of the colonizers and merchants that used the Doce River, barracks were installed with the mission to keep an eye on the Botocudos. The barrack of Baguari was the first territory of today's municipality and along with him, near settlements also appeared, one of them being Figueira, that correspond to today's municipality. The Amerindians were seen as a threat to the colonizers and the barracks worked as a strategy of forcing them to leave the region. Near Figueira, in 1818, the D.Manoel barrack was created, on the left side of the Doce River, working as a little port that attended to military service and would also form a trading post. Later, the settlement was ranked up to a district subjected to Peçanha by the provincial law nº 3.198 of September 23 of 1884, coming to be called Santo Antônio da Figueira.