The prosecutor, Jose Leite Sampaio, made the announcement in a televised press conference in Belo Horizonte, near the site of the disaster on November 5, 2015, when the failed dam unleashed a torrent of muddy water killing 19 people. It was branded Brazil's worst ever environmental disaster.
"There was a setting aside of security for the pursuit of wealth," Sampaio said.
The accused included the CEO of Samarco at the time of the tragedy, Ricardo Vescovi, as well as operations managing director Kleber Terra, and three operations managers.
In Brazil, aggravated manslaughter convictions can result in prison sentences of 12 to 30 years.
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Vale said in a statement that it "vehemently rejects the charges presented by the federal prosecutor's office."
The breaking of the tailings dam unleashed a massive flood of mud into the River Doce.
Drinking water supplies were cut for hundreds of thousands of people, a village was flattened, and local fishing and tourist businesses were badly impacted.
The mining companies have agreed to pay billions of dollars in compensation but face another costly civil lawsuit.