The Arsenal forward struck five minutes into added time to break Japanese hearts after the Asian side had threatened a major upset in the Round of 32 clash.
Japan took a surprise lead in the 29th minute when midfielder Kaishu Sano found the back of the net against the run of play, punishing a dominant but initially wasteful Brazil side.
Brazil, who controlled 61% of possession and registered 19 attempts on goal, finally equalized 11 minutes into the second half through veteran midfielder Casemiro.
Just as the match appeared headed for extra time, Martinelli capitalized on late pressure to seal the win and keep the five-time world champions' tournament alive.
Brazil enjoyed the lion's share of chances but struggled to breach a disciplined Japanese defensive block that limited the South Americans to just seven shots on target despite heavy pressure.
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