Robinho nodded past Chilean goalkeeper Claudio Bravo on 79 minutes from a Maicon cross after good work from Barcelona maestro Neymar.
The goal was Robinho's first at international level since August 2011 and came before 38,514 fans in Toronto's domed Rogers Center.
It was a sixth victory in a row for FIFA World Cup™ hosts Brazil, who took the lead in the 14th minute when Hulk blasted a left-footed shot from the wing.
Brazil looked to have restored their lead in the 73rd minute but Neymar was whistled offside.
A few minutes later, Neymar went one-on-one with Bravo, twice lofting the ball over the goalkeeper and keeping possession only to have his eventual shot blocked by a Chilean defender.
In the final minutes, Bravo denied Neymar once more, this time saving with his feet.