Neuryurus is a Neogene–Quaternary glyptodont known heretofore only by dermal skeleton remains from Argentina, Uruguay, and Brazil. Herein, new material of Neuryurus is reported, including associated remains of carapace and endoskeletal bones, recorded from the Sopas Formation (late Pleistocene) of Uruguay. The material described here probably corresponds to an adult female associated with a neonate or an unborn individual. The studied endoskeletal bones allow us to extend the diagnosis of the genus, which shows morphological similarities to Panochthus, Neosclerocalyptus, and Hoplophorus. The body mass estimations obtained on the basis of the described material of Neuryurus suggest that it had a less robust constitution than other quaternary glyptodonts such as Glyptodon reticulatus, Panochthus tuberculatus, and Doedicurus clavicaudatus, for which estimates of more than 1,000 kg body mass were previously given.