The Fort of São Francisco Xavier de Piratininga, also known as the Fort of Barra, sits on the rocky headland at the mouth of Vitória Bay where the Penha Channel opens to the sea. It was built in the 17th century as part of the defensive network protecting the bay from pirate raids and colonial rivals.
The fort is not enormous, but its position on the rocks is dramatic, and you can walk around the old walls and gun emplacements. The views back towards the Convento da Penha and across to Vitória make it worth the short detour. Access is straightforward and it sits close to the Prainha historic district.