However there is a place for 39-year-old former Barcelona right back Dani Alves who now plays his club football in Mexico.
There is also no place for uncapped Arsenal defender Gabriel Magalhaes but Gabriel Jesus makes a return after missing out during the last international break.
Firmino has been in good form for Liverpool this season, scoring six goals and adding three assists in 12 Premier League appearances for Jurgen Klopp's side.
The 31-year-old will not get the chance to add to his 55 caps for Brazil in Qatar however.
Arsenal's Gabriel Martinelli has been preferred to Firmino.
Manchester United trio Antony, Fred and Casemiro are all included while veteran Chelsea defender Thiago Silva is in there as well.
Brazil are in the same group with Serbia, Cameroon and Switzerland at the World Cup.
Brazil World Cup squad in full:
Alisson (Liverpool), Ederson (Manchester City), Weverton (Palmeiras); Alex Sandro (Juventus), Alex Telles (Sevilla), Bremer (Juventus), Dani Alves (UNAM), Danilo (Juventus), Eder Militao (Real Madrid), Marquinhos (Paris Saint-Germain), Thiago Silva (Chelsea); Bruno Guimaraes (Newcastle United), Casemiro (Manchester United), Everton Ribeiro (Flamengo), Fabinho (Liverpool), Fred (Manchester United), Lucas Paqueta (West Ham); Antony (Manchester United), Gabriel Jesus (Arsenal), Gabriel Martinelli (Arsenal), Neymar (Paris Saint-Germain), Pedro (Flamengo), Raphinha (Barcelona), Richarlison (Tottenham), Rodrygo (Real Madrid), Vinicius Junior (Real Madrid).
