This paper examines the advances and challenges of Bus Rapid Transit (BRT) systems in Brazil, considering their potential in promoting sustainable urban mobility. Rapid urbanization and the predominance of private motorized transport have intensified the need for efficient, accessible, and environmentally sound collective transport solutions. BRT has emerged as a cost-effective alternative to rail systems, combining high capacity, lower implementation costs, and operational flexibility. The study focuses on three Brazilian cities (Rio de Janeiro, Belo Horizonte, and Fortaleza) selected for their regional diversity and distinct BRT models. Using the Delphi method, the analysis was structured around three dimensions: road infrastructure, transport planning and networks, and system operation and performance. Results indicate significant progress in terms of exclusive corridors, integration terminals, express services, and the adoption of Intelligent Transport Systems. However, structural gaps persist, particularly regarding incomplete infrastructure, weak integration between trunk and feeder lines, limited monitoring of feeder services, and insufficient adaptation of networks to urban dynamics. The findings highlight that the effectiveness of Brazilian BRT systems depends on strengthening feeder lines, improving physical and fare integration, and expanding sustainable infrastructure.