No. Brazil doesn't ask visitors to fill in an online arrival form (also called an entry form, immigration card or landing card) before they travel. Some nationalities need a visa or eVisa. Cash of USD 10,000 or more must be declared online.
Do I still need a visa for Brazil?
An arrival form is not a visa. Whether you need a visa or an electronic travel authorization depends on your nationality, so check Brazil's official immigration website or your own government's travel advice.