The hosts netted the opening goal through Everton after which Jose Paolo Guerrero scored an equalizing goal from the spot.
Meanwhile, Gabriel Jesus, who assured Selecao went in ahead at the interval.
However, Jesus was sent off for a second bookable offence in the 70th minute, but Richardson kept his calm from the spot with seconds left, to secure the victory for Brazil.
Despite missing Neymar through injury, Tite’s side have been a dangerous force in this tournament, scoring 10 goals without conceding any.
The match victory gave Brazil breakthrough after they have won the competition since 2007.