"It's as though a Boeing 737 crashed every single day," said Samira Bueno, director of the Brazilian Public Security Forum, which compiled the report in conjunction with the Institute for Applied Economic Research (IPEA).
The consistently high murder rate in the vast country of 200 million was worst among young and black people, the report showed.
The murder rate increased from 29.1 per 100,000 in 2014 to 29.8 in 2015, well above the 10 homicides per 100,000 that the United Nations considers a threshold for "endemic violence."
More than 318,000 people aged between 15 and 29 were murdered in Brazil between 2005 and 2015. In 2015, the number was 31,264, or 54.1 percent of the total.
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The latest report showed that 71 percent of those were black.
"We not only have a sad legacy of discriminating by the colour of a person's skin but also, from the point of view of deadly violence, we have an open wound which has only been getting worse in recent years," the report said, noting that black Brazilians were 23.5 percent more likely to be killed than those in other communities.
The report also showed that 71.9 percent of murders in Brazil were committed using a firearm, compared to 21 percent in Europe, according to the UN Office on Drugs and Crime (UNODC).