Mirandabradys socorrensis was named by Carlini et al. (2006). Its type specimen is AMC-CURS 29, a partial skeleton (partial skull and postcrania), and it is a 3D body fossil. Its type locality is Mirandabradys Urumaco 01, which is in a Miocene terrestrial horizon in the Socorro Formation of Venezuela.

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