Danilo's first-half strike had been cancelled out in the 84th minute by Lovro Majer, but Thiago's first goal for his country and Martinelli's late finish completed the late turnaround. 

Having lost to France last week, Carlo Ancelotti's side started brightly, and only a smart stop from Dominik Livakovic stopped Danilo from opening the scoring early on. 

Livakovic then denied Joao Pedro and Matheus Cunha, but Brazil's dominance told in first-half stoppage time when Danilo fired into the roof of the net from the edge of the box.

Croatia did, however, improve after the break and drew level six minutes from time through Majer, who slid in to poke Toni Fruk's cross from the right into the box past Bento.

But Brazil was awarded an 88th-minute penalty when Endrick was fouled by Josip Sutalo, with Brentford striker Thiago stepping up to coolly dispatch into the bottom-left corner. 

The win was sealed by Martinelli, who raced on to Endrick's pass in behind, before taking a touch and crashing a left-footed effort past Livakovic to seal an impressive triumph. 

Brazil's meeting with Croatia was its first since losing in the quarter-finals of the 2022 World Cup, but it delivered a dominant performance in what was its final match before announcing its squad for FIFA's flagship competition in the summer.