Mirandabradys urumaquensis was named by Carlini et al. (2006). Its type specimen is AMU-CURS 157, a set of postcrania ( left femur and 10 thoracic vertebrae), and it is a 3D body fossil. Its type locality is Mirandabradys Urumaco 02, which is in a Miocene terrestrial horizon in the Urumaco Formation of Venezuela.

It was recombined as Pseudoprepotherium urumaquensis by Rincón and McDonald (2020).