The Sporting Lisbon striker was granted Portuguese citizenship last month and became the third Brazil-born player in the squad, alongside Chelsea midfielder Deco and Real Madrid's Pepe.
The 31-year-old signed for Sporting in 2003, and has become one of the top scorers in the club's history. Queiroz also recalled Maniche, Rui Patricio, Nuno Gomes and Jose Castro.
Maniche told the Portugal Football Federation website: "It is good to be back and able to help the national team. I have the same motivation as ever, given that we will have two decisive games for the World Cup.
"The atmosphere that we expect in Copenhagen and Budapest will not intimidate us. On the contrary, it is in this kind of game that we show our quality."
Goalkeepers: Beto (Porto), Eduardo (Braga), Patricio (Sporting Lisbon)
Defenders: Bosingwa (Chelsea/England), Alves (Porto), Castro (Deportivo La Coruna/Spain), Miguel (Valencia/Spain), Pepe (Real Madrid/Spain), Carvalho (Chelsea/England), Rolando (Porto)
Midfielders: Deco (Chelsea/Portugal), Duda (Sevilla/Spain), Moutinho (Sporting Lisbon), Maniche (Cologne/Germany), Veloso (Sporting Lisbon), Meireles (Porto), Tiago (Juventus/Italy)
Forwards: Ronaldo (Real Madrid/Spain), Liedson (Sporting Lisbon), Nani (Manchester United/England), Gomes (Benfica), Simao (Atletico Madrid/Spain)