During the 2016 Summer Olympics, Queiroz managed to win three Olympic medals at a single Games: two silver and one bronze. In the C–1 1000 metres event he finished second, defeated only by Sebastian Brendel, who successfully defended his title. In the process, he became the first Brazilian sprint canoeist to win an Olympic medal. Two days later he took the bronze medal in the C–1 200 metres event, when Yuriy Cheban and Valentin Demyanenko were faster than him. Together with Erlon Silva they won the silver medal during the last day of canoe sprint competitions, in the C–2 1000 metres category. Queiroz was the first Brazilian athlete in history to win three medals at a single edition of the Olympic Games, and the first sprint canoe athlete from any nationality to do so in the history of the Olympics.