Two new species in the Matelea stenopetala complex (Apocynaceae, Asclepiadoideae) are described from the Guiana Shield and Amazonian Brazil: Matelea brevistipitata Krings & Morillo, sp. nov. and M. trichopedicellata Krings & Morillo, sp. nov. The new species belong to a small group of adaxially-pubescent-flowered taxa within the complex, including M. hildegardiana and M. pakaraimensis. The new species are described and a dichotomous key is provided.