At the age of 5, he was kidnapped and offered up for adoption before being rescued by his mother, and five years later, he fell out of a tree while trying to catch a snake and lost a kidney.

Together with Erlon Silva, they won the silver medal during the last day of canoe sprint competitions in the C–2 1000 metres category.

[7] The 2020 Summer Olympics had Queiroz partnered with Jacky Godmann as Erlon Silva had not recovered from a hip injury.

He considered a consolidation of extensive training to get a victory that eluded him in Rio and became the first Brazilian Olympic champion in canoeing.

In the C-1 1000 meters Queiroz finished with a silver, marking his fifth Olympic medal and tying him with Robert Scheidt and Torben Grael as the most condecorated Brazilian man in the Games.